A palpation assisting apparatus includes a synchronization controller configured to synchronize a timing of acquiring pressure data output from a pressure sensor attached to a position in contact with a lesion part with a timing of acquiring positional information of a marker attached to a position corresponding to the pressure sensor, and an entering part configured to store, in a storage part, the pressure data and the positional information of the marker that are acquired at the synchronized timing in association with time information indicating a time at which the pressure data and the positional information are acquired.
