Provided is a pipe insertion system for restoring underground pipes by inserting restoration pipes inside degraded underground pipes, wherein a pipe guide apparatus is capable of inserting the restoration pipes inside the underground pipes in such a manner that work efficiency is not reduced due to the restoration pipes getting caught and the restoration pipes do not get damaged. When inserting a flexible restoration pipe inside an existing underground pipe, the pipe guide apparatus (6) guides the restoration pipe. The pipe guide apparatus (6) includes: guide rollers (61e, 61f) that minimize displacement of the restoration pipe in directions other than the direction of movement by rotating in contact with the outer peripheral surface of the restoration pipe; and a main body frame (60) that immobilizes a rotating shaft of the guide rollers (61e, 61f) while the guide rollers are held substantially horizontal. The position (a shaft (61d)) in which the rotating shaft of the guide rollers (61e, 61f) is held in the body frame (60) can be adjusted in the height direction (C).
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