A belt tracking system for controlling the lateral position of a movable belt entrained about a plurality of generally parallel rollers for moving in a trans-axial direction perpendicular to an axial direction in which the rollers extend parallel to each other includes a roller shaft, a slidable member, and a rotation restrictor. The roller shaft extends outward in the axial direction from an axial end of a specific one of the plurality of generally parallel rollers. The slidable member is slidably disposed around the roller shaft to move along the roller shaft as the belt moves laterally outward in the axial direction. The rotation restrictor is disposed adjacent to the slidable member to restrict rotation of the slidable member around the roller shaft.