We propose a novel possibility for Higgs inflation where the perturbative unitarity below the Planck scale is ensured by construction and the successful predictions for inflation are accommodated. The conformal gravity coupling for the Higgs field leads to the proximity of the effective Planck mass to zero in the Jordan frame during inflation, corresponding to a pole in the Higgs kinetic term in the Einstein frame. Requiring the Higgs potential to vanish at the conformal pole in the effective theory in the Jordan frame, we make a robust prediction of the successful Higgs inflation. For a successful Higgs inflation at the pole, we take the running quartic coupling for the Higgs field to be small enough at the inflation scale, being consistent with the low-energy data, but we need a nontrivial extension of the SM with extra scalar or gauge fields in order to keep the running Higgs quartic coupling small during inflation. Performing the perturbative analysis of reheating with the known couplings of the SM particles to the Higgs boson, we show that a concrete realization of the Higgs pole inflation can be pinned down by the reheating processes with a general equation of state for the Higgs inflaton. We illustrate some extensions of the simple Higgs pole inflation to the general pole expansions, the running Higgs quartic coupling in the Standard Model and its extension with a singlet scalar field, a supergravity embedding of the Higgs pole inflation.