An endoscope includes an input amount detector which is configured to detect, as a bending operation input amount, the bending operation input, a first bending drive mechanism which is configured to bend a first bending portion to a bending amount corresponding to the bending operation input amount, a bending amount calculator which is configured to calculate a bending amount of the first bending portion, a second bending drive mechanism which is configured to bend the second bending portion, a driving portion which is configured to generate driving force to drive the second bending drive mechanism, a setting portion which is configured to set a first threshold stored in advance and compared with the bending amount of the first bending portion, a determination portion which is configured to determine whether the bending amount of the first bending portion is more than the first threshold, and a controller which is configured to continuously output, to the driving portion, a bending drive signal that drives the second bending drive mechanism to bend the second bending portion in the same direction as the bending direction of the first bending portion when the determination portion determines that the bending amount of the first bending portion is more than the first threshold.
