We investigated the magnetic phase transitions of ErCrO3 using single-crystal and powder samples. Neutron powder diffraction showed that the Cr3+ orders at TN=133K with the irreducible representation of Γ4(Gx,Fz). ErCrO3 exhibits a mixed Γ4(Gx;FzR) and Γ1(Gy;CzR) phase just below 10 K. The Γ1(Gy;CzR) phase becomes dominate at the base temperature. On the other hand, the transition from Γ4(Gx,Fz) to Γ1(Gy;CzR) is sharp in the single-crystal sample. The scattered intensity of the (110) Bragg peak, which indicates the ferromagnetic component along the c axis, displays continuous growth upon cooling and dropped starting at TSR=9.6K when the spin reorientation of Cr3+ occurs. The temperature-dependent magnetization measurement of the single-crystal sample showed the ferromagnetic moment is along the c axis appearing at TN≈133K with a sharp drop at TEr3+=10K. The specific heat shows a sharp peak at TEr3+=9.3K for the single crystal while the polycrystalline sample does not. The crystal-field excitation of the first Kramers doublet above the ground state of I15/24 of Er3+ is observed at ≈1.19(1)meV (=13.80K), which is close to the Schottky anomaly observed as Δ=13.23K from the lowest-lying crystal-field states in the specific heat. It is not yet clear whether the near coincidence of TSR and TEr3+ is an accident or not.