Orienting toward salient visual features is important for finding foods and mates. Animals decide where to orient using not only instantaneous visual inputs but also recent visual experience. Neural correlates of this type of short-term memory have been described in some species, but little is known about its cellular and circuit mechanisms. Fruit flies (Drosophila melanogaster) are a potentially useful model organism because the activity of the same circuit element can be recorded and manipulated repeatedly using different individuals while monitoring behavior. To establish a fly model of short-term memory during navigation, we developed a protocol for testing how flies incorporate prior visual experience to decide where to orient in a virtual space. The body of individual fly was glued to a pin and surrounded by arrays of light-emitting diodes for visual stimulation. The horizontal position of visual stimulus was updated in real-time based on the estimated velocity of fly's turn in the horizontal plane, simulating flight in a virtual space. Flies have an innate tendency to orient toward a dark bar. Therefore, a fly chooses to orient either left or right when two bars are simultaneously presented at left and right visual fields. We tested how this navigational decision is influenced by prior visual experience. Each trial started with a presentation of a bar (cue stimulus) either at left or right visual field. Following a delay period with uniform visual stimulation, flies made a navigational decision. We found that flies oriented more often toward the bar that appeared at the side where the cue stimulus had not been presented. Average turn direction in delay period did not predict the magnitude of choice bias on a fly-by-fly basis, indicating that the choice bias was not caused by the cue-induced motor bias. Flies showed the choice bias with delay periods of at least several seconds. In sum, we found that flies use prior visual experience to decide where to orient and thus opened up a way to study circuit mechanisms of short-term memory during navigation using Drosophila.