An insertion apparatus includes insertion unit, a rotation drive mechanism, a first rotation member which is arranged inside the insertion unit and rotates by the rotation drive mechanism, a second rotation member which is attached to an outer peripheral surface of the insertion unit and is adjacent to the first rotation member, and a helical rotation member which is rotatable in accordance with rotation of the second rotation member. The insertion apparatus include a magnetic force generation mechanism which generates a magnetic force that enables the first rotation member and the second rotation member to be attracted to and coupled and enables the second rotation member to rotate follow rotation of first rotation member. The magnetic force generation mechanism is arranged at a tubular end portion of the first rotation member and a tubular end portion of the second rotation member adjacent to the end portion.