An insertion apparatus includes a control mode switching section switching to a first control mode based on generation of a first operation command and switching to a second control mode based on generation of a second operation command. The insertion apparatus includes a first drive control section controlling a drive state of a drive member in such a manner that a rotary unit rotates toward a first periaxial direction with a first rotation amount during a reference time having a predetermined length in the first control mode, and a second drive control section controlling the drive state of the drive member in such a manner that the rotary unit rotates toward the second periaxial direction with a second rotation amount smaller than the first rotation amount during the reference time in the second control mode.
