An insertion apparatus includes an insertion portion 10, a power spiral tube 17 provided with a spiral fin portion 18 configured to extend in a spiral shape, the power spiral tube 17 being provided on an outer circumferential direction side of the insertion portion 10 so as to be rotatable with respect to the insertion portion 10 around a longitudinal axis, a first motor 23 configured to generate a drive force to rotate the power spiral tube 17, an operation section 11 provided on a proximal end side of the insertion portion 10, a second motor 27 configured to generate a drive force to rotate the insertion portion 10 pivotably held to the operation section 11, a first motor drive circuit 33 configured to calculate a current value to drive the first motor 23, a torque detection circuit 34 configured to calculate torque to be added to the power spiral tube 17 from the calculation result, and a second motor drive circuit 35 configured to perform control so as to supply a current that causes the second motor 27 to rotate in accordance with the calculation result.
