We propose a mechanism of torque generation by injection of an orbital current, which we call $\textit{orbital torque}$. In a magnetic bilayer consisting of a nonmagnet (NM) and a ferromagnet (FM), we consider a situation where the spin-orbit coupling (SOC) is present only in the FM. Although the SOC is absent in the NM, the orbital Hall effect can arise in the NM. When the resulting orbital Hall current is injected to the FM, the SOC of the FM converts the orbital angular momentum into spin, which exerts torque to the magnetization of the FM. Remarkably, even for small SOC strength comparable to that of $3d$ FMs, the orbital torque can be comparable to the spin torque induced by the spin Hall effect of the NM with strong SOC. This provides a way to experimentally probe the OHE and opens a new venue to achieving spin-torque devices based on light elements that exhibit gigantic orbital response. Experimental implications are discussed.