Parosteal lipoma derived from the rib is extremely rare and is usually resected through open thoracotomy despite its benign nature. A 33-year-old man who had no symptoms was referred to our hospital for treatment of a 30-mm chest wall mass that has slightly increased in size during 2 years of follow-up. En bloc resection of the tumor with parts of the 3rd and 4th ribs was performed through a complete thoracoscopic approach using orthopedic electric micro drill. This was the first report on a case of parosteal lipoma of the rib that was resected by a complete thoracoscopic procedure.