A slip molding apparatus (10) for lining a pipe (12) includes a dispense head (20) adapted to engage an interior surface (14) of a pipe (12) and to dispense a lining material, a slip mold (38) pulled by the dispense head (20) and having a leading end (42) and a trailing end (44), wherein the trailing end (44) has a greater diameter than a diameter of the leading end (42), at least one camera (58) disposed on the dispense head (20) to provide a view of the interior surface (14) of the pipe (12), a guide (46) connected to the dispense head (20) and the slip mold (38) for guiding the lining material dispensed by the dispense head (20) about the slip mold (38), and a movable diverter (52) on the slip mold (38) cooperating with the guide (46) to divert a flow of lining material dispensed by the dispense head (20) about the slip mold (38).