An insertion support system includes a state acquisition apparatus configured to acquire first information. The first information includes at least one of: a plurality of pieces of position information related to a plurality of positions of an insertion section to be inserted into an insertion target body； and a plurality of pieces of direction vector information in a longitudinal axis direction of the insertion section. The insertion support system also includes a support information calculator configured to calculate second information related to a rotation quantity of the insertion section based on the first information, and an output section configured to output the second information.
