An endoscope including: two bending portions, a bending amount calculator, a setting portion, a determination portion, and a controller, configured as such: Upon bending of the distal bending portion, the bending amount calculator calculates the bending amount of the distal bending portion. If the determination portion finds if the bending calculated exceeds a first set threshold set by the setting portion, the controller continuously outputs a signal to drive the proximal bending portion to bend in the same direction as the distal bending portion. When subsequently the determination portion finds that the bending calculated is less than a second threshold less than the absolute value of the first threshold, and which is also set by the setting portion, the controller outputs a signal to return the proximal bending section to its initial predetermined position.
