A guide assembly of a self-propelled type for an endoscope having an elongated tube for entry in a body cavity is provided. An endless track device has an annular surface, for turning around endlessly on an endless track in an axial direction of a steering device of the elongated tube, and for propulsion by contacting a wall of the body cavity. A first driving device drives the endless track device. A second driving device is disposed on a proximal side from the first driving device, for receiving force applied by an external drive source, and driving the endless track device. A resilient connecting coil structure connects the first driving device to a distal side of the second driving device in the axial direction, and transmits the force from the second driving device to the first driving device, for actuation thereof in synchronism with one another.
