A guidance device includes a processor and a generator for generating a magnetic field to be applied to a magnet in a capsule. The processor: determines whether the capsule is in contact with a boundary of liquid in a subject； and switches between a first mode, a second mode, and a third mode, the first mode causing the generator to generate the magnetic field for shifting from a contact state in which the capsule is in contact with the boundary to a non-contact state in which the capsule is not in contact with the boundary, the second mode causing the generator to generate the magnetic field for keeping the capsule floating in the liquid, the third mode causing the generator to change the magnetic field to shift from the contact state to the non-contact state and acquiring a control condition for the generator when shifting to the non-contact state.
