Very few bugs are actually harmful to eat. They are just disgusting in cultures that don't normally eat them.
The photo isn't detailed enough for an identification but if I had to guess I would say it's probably some type of larva from a fly of some kind. Depending on what type of fruit that is, many flies lay their eggs inside of fruit and the eggs hatch into larvae and eat the fruit as they mature into adults. But that's just a guess.