An endoscope system includes: a position and posture calculating portion that estimates a position of a distal end and a longitudinal direction of a distal end portion; a condition determining portion that, based on the shape information at the position of the distal end that is estimated, determines whether or not an angle that a core line direction of the luminal organ and the longitudinal direction estimated by the position and posture calculating portion form is equal to or less than a predetermined threshold value; and a position and posture information recording portion that, when the angle that the core line direction and the longitudinal direction form is equal to or less than the predetermined threshold value, records information regarding the position and the longitudinal direction of the distal end.