A belt tracking system for adjusting displacement of a movable belt in an axial direction of a plurality of rollers about which the movable belt is entrained includes a slope member and a roller shaft support. The slope member is disposed at least at one end of at least one of the plurality of rollers in the axial direction, to tilt the roller due to movement of the belt. The roller shaft support rotates about a predetermined shaft and includes a shaft recovery member to recover a tilt of the slope member. The shaft recovery member is disposed within a shortest circumference of a closed curve among closed curves within which the slope member and the roller shaft support are disposed in a state in which the roller shaft support is rotated.