Achieving high-resolution optical focusing and imaging deep within the brain is crucial for understanding the central nervous system in mammals. Multimode fiber, due to its small size, is an excellent choice for minimally invasive endoscopic imaging. We propose a fluorescence endoscopic imaging system based on wavefront shaping using a single multimode fiber. By employing the Lee hologram method with a digital micromirror device, we modulate the amplitude, phase, or polarization state of the incident light wavefront to achieve diffraction-limited focusing at the end of the multimode fiber and enable rapid scanning of the focal point within the field of view. We demonstrate the capability of this technique for imaging fluorescent beads. Future work will focus on further enhancing imaging performance, such as speed and resolution, to achieve minimally invasive, high-resolution optical focusing and endoscopic microscopy.