An insertion apparatus includes an insertion section (110), a motor (150) that rotates a spiral tube (132), a drive control unit (202) that supplies a driving current to the motor (150) to control driving of the motor (150), a temperature sensor (118) provided in the spiral tube (132), that detects a temperature of the spiral tube (132), a temperature measurement unit (204) that measures a temperature in a vicinity of the spiral tube (132) based on a detection result obtained from the temperature sensor (118), a heater (119) used for heating, and a heating control unit (205) that controls the heater (119) to perform heating when a measurement result of the temperature measurement unit (204) is lower than a predetermined temperature.
