1. An endoscope system, comprising: an endoscope comprising an insertion portion to be inserted into a subject, and an image pickup portion that picks up an image of inside of the subject; an image pickup information acquisition portion that acquires positional information of the image pickup portion; an insertion form information acquisition portion that acquires insertion form information of the insertion portion inside the subject; and a control portion that, on a stereoscopic model image that simulates a predetermined organ inside the subject, superimposes an insertion form image that is based on the insertion form information acquired by the insertion form information acquisition portion, and based on positional information of the image pickup portion that is acquired by the image pickup information acquisition portion, also pastes an image pickup image that is picked up by the image pickup portion, and presents the stereoscopic model image.