We provide a proof-of-principle demonstration of CARS endoscopy. The design utilizes a single mode optical fiber with a focusing unit attached to the distal end. Picosecond pump and Stokes pulse trains in the near infrared are delivered through the fiber with nearly unaltered spectral and temporal characteristics at intensities needed for endoscopy. CARS endoscopic images are recorded by collecting the epi-CARS signal generated at the sample and raster scanning the sample with respect to the fiber. This CARS endoscope prototype represents an important step towards in situ chemically selective imaging for biomedical applications.