A pipeline mapping system (1) and method has a mapping probe (2) on a probe conveyor (3) that is positioned on a base vehicle (5) in a main pipeline (6) from which the probe conveyor is extendable into a lateral pipeline (4) selectively. The base vehicle has a vehicle motor that can be a vehicle water jet (7) for propulsion of the base vehicle in the main pipeline and the probe conveyor has a probe motor that can be a probe water jet (8) for propulsion of the probe conveyor in the lateral pipeline. A mapping recorder that can include a metal detector (9), a TV monitor (10) and a computer (11) is in electronic communication with the mapping probe for recording mapping information from the mapping probe.