An insertion device includes a first rotating member rotatably arranged about a rotational axis and rotating so as to pull a first linear portion, and a second rotating member rotatably arranged about the rotational axis and rotating so as to pull a second linear portion. The insertion device includes an actuating unit actuated by an electrical driving force transmitted upon driving a driving member, and a transmission switching section switching a state of a transmission of the electrical driving force from the driving member between the actuating unit and the first rotating member.
