An endoscope system includes an endoscope with a bending portion installed on a distal side of an insertion portion; a bending drive unit which drives and bends the bending portion electrically; a map information storage unit which stores map information digitized by associating an amount of bending and a corresponding three-dimensional position and direction of a distal end of the insertion portion with each other, with a position near a rear end of the bending portion being designated as a reference position; a position and direction detecting unit which detects the position and direction of the distal end of the insertion portion; and a bending control unit which controls the bending drive unit to orient the distal end of the insertion portion into a target direction using the map information.