A belt driving apparatus includes a movable belt member, a stretching member configured to stretch the belt member, and a steering unit configured to stretch the belt member and to be inclined to steer the belt member in a widthwise direction substantially perpendicular to a direction of moving of the belt member. The steering unit includes a rotatable member contacting an inner surface of the belt member and configured to be rotatable with movement of the belt member around a rotational axis of the rotatable member, with the rotational axis extending in the widthwise direction, and non-rotatable members contacting an inner surface of the belt member, provided at each opposite axial end of the rotatable member and configured not to be rotatable with movement of the belt member. In addition, a supporting member supports the rotatable member and the non-rotatable members, and is inclined by frictional force from sliding between the belt member and each of the non-rotatable members, around an axis perpendicular to the rotational axis, and urging members urge the belt member in contact with an outer surface of the non-rotatable members, with each of the urging members disposed against one of the non-rotatable members.