A belt driving apparatus for rotationally driving a belt member, the belt driving apparatus includes a stretching member for stretching the belt member; a steering section including a steering member having a rotatable portion which is rotatable with rotation of the belt member, a frictional portion slidable relative to the belt member and provided at each of longitudinal outsides of the rotatable portion, and further including a supporting section supporting the steering member, and a rotation shaft rotatably supporting the supporting section, the steering section being effective to steer the belt member by inclining the steering member by a force produced by sliding between the frictional portion and the belt member; and a resisting force applying section for applying a resisting force against inclination of the steering member, the resisting force increasing with increase of a rate of change of an inclination angle of the steering member with respect to time.