In this paper, a cable-driven hyper-redundant manipulator using leader-follower control is explored. The proposed system is being developed for the purpose of exploration and inspection of highly confined spaces. Using a tele-operated joystick, an operator will have direct control over the end-effector, which will determine the trajectory and motion of the robotic system through the leader-follower control. To develop a control system for the manipulator, the kinematic relationships between the cables, motors and joints were firstly explored. Based on these relationships the system is modelled mathematically from the user to the robot end-effector. Using the kinematic equations, a control system was developed in MATLAB simulink. A prototype was developed to measure and validate kinematic relationships between the cables and joints of the system. An Error detection and correction mechanism is implemented using proportional control, validating the Kp value using the prototype system. To verify the kinematics and the proposed control system, a simulation was conducted using the MATLAB robotic toolbox. The simulation result demonstrated the promising capability of the proposed leader-follower control system in controlling the robot motion and its trajectory.