This bogie and vehicle is provided with: a bogie body; a pair of travel wheels disposed on both sides of the bogie body in a direction intersecting with the traveling direction and capable of rolling motion on the traveling road surface of a track; a guide device guided along a guide rail and rotatably supported to the bogie body about the axial line along a vertical direction; and a pair of motors disposed between the pair of travel wheels of the bogie body and transferring a drive force to the pair of travel wheels.