An endoscope apparatus includes: an insertion portion including a bendable bending portion provided on a distal end side thereof； a bending drive section that electrically drives bending of the bending portion； an insertion shape detection section that detects an insertion shape of the distal end side of the insertion portion； and a bending control section that estimates a curved curve plane including the distal end side of the insertion portion in a state inserted in a curved tubular body cavity based on curve information of the distal end side of the insertion portion, and performs control to drive bending of the bending portion using information on the estimated curve plane.
