A pipe bending system employing a feedback and control system that provides continuous data to a programmed processor. The processor is programmed to automatically carry out an incremental bending cycle in which the pipe is clamped by a predefined pressure by the pin-up shoe, a stiffback is moved upwardly to a predefined position to achieve a desired angular bend in the pipe, the stiffback is returned to its full back position, as is the pin-up shoe, whereupon the pipe is axially moved a predefined distance to proceed with the subsequent incremental bend.