An endoscope system includes: an insertion portion inserted into a subject; a forward image pickup device configured to acquire a first subject image from a first direction; an image pickup device configured to acquire a second subject image from a second direction; and an image processing section configured to generate a bird's-eye view image based on a bird's-eye view subject image looking down on the subject from a virtual point of view away from the insertion portion and configured to execute a process of associating the first subject image and the first direction in the bird's-eye view subject image and associating the second subject image and the second direction in the bird's-eye view subject image.