We propose the bridge inspection system using a small size two-wheeled multi-copter. The multi-coper has two-wheels of the size 25 cm and can go into narrow space on bridge bearings. We also develop both a wheel driving system to move accurately at low speed on the ground in the narrow space and a camera gimbal device capable of controlling remotely to take close-up images of the bearings. Some field examinations in a water part of the river show that the system is useful and practical for a bridge inspection. Finally, we present an autopilot control system for inspection of bearing parts in bridges by using two-wheeled multi-copters.