A system comprises a flexible instrument, a first user input device spaced from the flexible instrument, and a second user input device including a first state and a second state. The system further comprises a control system configured to, based on an input received from the first user input device, control an orientation of the flexible instrument. The control system is further configured to, based on an input received from the second user input device, adjust a stiffness of the flexible instrument. The stiffness of the flexible instrument is lower when the second user input device is in the first state than when the second user input device is in the second state.