An endoscope apparatus includes an endoscope including an insertion portion provided with a bending portion, a designation section that designates a turning motion for turning a distal end of the bending portion with respect to a proximal end of the bending portion, a determination section that determines a driving direction of the bending portion so as to turn the bending portion based on information on the designated turning motion, and a bending driving section that turns the bending portion by driving the bending of the bending portion in the driving direction determined by the determination section.
