In this paper we present a method of circular arc approximation by quartic B$acute{e}$zier curve. Our quartic approximation method has a smaller error than previous quartic approximation methods due to the alternation of the error function of our quartic approximation. Our method yields a closed form of error so that subdivision algorithm is available, and curvature-continuous quartic spline under the subdivision of circular arc with equal-length until error is less than tolerance. We illustrate our method by some numerical examples.