A telescopic tilting device 12 comprises a telescopic arm 14 which is extendable and retractable along an arcuate path 16. Preferably, the telescopic arm 14 includes two arcuate members 22, 24 which are telescopically slidable relative to each other. More preferably, the device further comprises a drive unit 20 having a flexible belt 43 for moving the telescopic arm 14. There is also provided an endoscope holding device 10 which has such a telescopic tilting device 12.