An endoscope system includes an insertion part having flexibility and an instrument channel into which a medical instrument is insertable formed therein, a flexible tube part provided at a proximal end portion of the insertion part, a bending part that is bendable and is provided at a distal end portion of the insertion part, a tubular body in which an insertion part channel into which the flexible tube part is insertable is formed and provided to be movable along a longitudinal axis of the flexible tube part with respect to the flexible tube part, a first driving part which operates the bending part to be bent with respect to the distal end portion of the flexible tube part, a second driving part provided at a distal end portion of the tubular body to drive the flexible tube part inserted into the insertion part channel toward a proximal end portion with respect to the tubular body, and a control part which generates, according to a first driving signal which drives the first driving part, a second driving signal which drives the second driving part.
