An endoscope-shape monitoring system is provided that is used to grasp a shape of a flexible insertion portion. The endoscope-shape monitoring system includes a position detecting system, a bending determinator, and a bendable-portion-shape reproducing processor. The position detecting system detects positions of both ends of a bendable portion of the insertion portion. The bending determinator determines a bending situation of the bendable portion. The bendable-portion-shape reproducing processor reproduces the shape of the bendable portion in accordance with the positions and the bending situation.