A pipe holding device includes a fixed clamp member, a movable clamp member, an upper ring and a lower ring. The fixed clamp member and the movable clamp member each have inner peripheral surfaces as metal surfaces coming into contact with the outer peripheral surface of the small diameter pipe. Furthermore, inner peripheral surfaces of cylindrical bodies correspond to a first resin surface and a second resin surface coming into contact with the outer peripheral surface of the small diameter pipe, respectively. The inner peripheral surface of the cylindrical body, the inner peripheral surfaces of the fixed clamp member and the movable clamp member, and the inner peripheral surface of the cylindrical body are adjacent to one another in an axial direction of a large diameter pipe.