The process of self-righting to recover the orientation to the ground was observed in Japanese beetles. Video observation of self-righting processes in an indoor environment suggested that the properties of the environment that afforded self-righting were (a) texture of the substrate surface; (b) a soft, deformable object that can be held on to and swung by a beetle; and (c) the gap between the substrate and a hard object that afforded a spiral-like rotation of a beetle. Incorporating such properties, self-righting of beetles emerged as 3 kinds of environment-action systems: a surface texture/leg tip system; a soft object held by limbs/round back on the ground system; and a hard object/multiple limbs/round back on the ground system. Controlled experiments on multiple individuals further revealed that what is meaningful to self-righting is not a local, discrete texture of a surface but a higher order combination of textures of surfaces surrounding the animal. Based on the results, flexibility of action, properties of the environment that afford beetles' orientation to the surroundings, and the features of the distal tip of the limbs of beetles, as well as the reciprocity among them, are discussed.