A method of controlling an endoscope includes, inserting an insert part having an imaging unit at a distal end through the body; making an imaging direction of the imaging unit variable by bending of a bending part, wherein the bending part is included in the insert part; detecting an amount of insertion of the insert part through the body; and determining whether the bending part is to be bent or not on the basis of operation of a direction input part depending on the amount of insertion.