An exercise apparatus includes a pedal main part on which a user U in a sitting posture places his/her foot, a pedal support part configured to support the pedal main part so that the pedal main part is movable within a predetermined range along a foot-length direction, and a guiding mechanism configured to guide the pedal support part so that the pedal support part moves along a predetermined rotational trajectory in a cyclic manner. According to the above-described configuration, it is possible to prevent each of joints such as a hip joint, a knee joint, and an ankle joint from moving outside the range of movement of the joint. The exercise apparatus may also include a rubber tube that resists the movement of the pedal main part relative to the pedal support part.