A fixation device includes a pressing member, a drive roller, an auxiliary roller, and an endless fixation belt rotatably mounted, in a loop shape, on the drive roller and the auxiliary roller. The endless fixation belt is in pressure contact with the outer peripheral surface of the pressing member, thereby forming a nip between the fixation belt and the pressing member. The drive roller is configured to drive the fixation belt to rotate in the looped shape and thereby cause the auxiliary roller to rotate due to the frictional force from an inner peripheral surface of the rotating fixation belt. A friction coefficient of a contact surface of the auxiliary roller with the fixation belt is smaller than a friction coefficient of a contact surface of the drive roller with the fixation belt.