An insertion apparatus includes an elongated inserting section having a curving section, an input section which is provided in an operating section, receives an arbitrary input to curve the curving section in a movable range including a first range that includes the neutral input position and a second range that has an operation amount from the neutral input position exceeding the first range, a first actuator, a detecting section, a second actuator which gives a force towards the neutral position to the input section, and a control section which operates the first actuator and the second actuator, when the input amount to the input section is in the second range, thereby giving a force to the input section so that an input amount to the input section is in the first range.