For the purpose of improving the manipulability at the time of insertion, and improving the ease of observation at the time of removal, according to the movement direction of an insertion portion with respect to a body cavity and a movement mode thereof, an endoscope system includes: an endoscope that is provided with an insertion portion that is inserted into a body cavity and an image acquisition part that acquires, at the distal end of the insertion portion, an image of the inside of the body cavity an insertion/removal detector that detects a relative movement direction of the insertion portion with respect to the body cavity an image generator that generates image information suitable for a movement mode of the insertion portion based on the relative movement direction detected by the insertion/removal detector and an image display part that displays the image information generated by the image generator.
