The endoscope system includes: an endoscope including an insertion portion to be inserted into a subject, and an image pickup portion that picks up an image of inside of the subject an image pickup information acquisition portion that acquires positional information of the image pickup portion an insertion form information acquisition portion that acquires insertion form information of the insertion portion inside the subject and a control portion that, on a stereoscopic model image that simulates a predetermined organ inside the subject, superimposes an insertion form image that is based on insertion form information that is acquired by the insertion form information acquisition portion, and based on positional information of the image pickup portion that is acquired by the image pickup information acquisition portion, also pastes an image pickup image that is picked up by the image pickup portion, and presents the resulting stereoscopic model image.
