The bit-flip method has been successfully applied to the successive cancellation (SC) decoder to improve the block error rate (BLER) performance for polar codes in the finite code length region. However, due to the sequential decoding, the SC decoder inherently suffers from longer decoding latency than that of the belief propagation (BP) decoder with efficient early stopping criterion. It is natural to ask how to perform bit-flip in a polar BP decoder. In this paper, bit-flip is introduced into the BP decoder for polar codes. The idea of critical set (CS), that is, originally proposed by Zhang et al. for identifying unreliable bits in a SC bit-flip decoder, is extended to the BP decoder here. After revealing the relationship between CS and the incorrect BP decoding results, critical set with order ω (CS-ω) is constructed to identify unreliable bit decisions in polar BP decoding. The simulation results demonstrate that compared with the conventional BP decoder, the BLER of the proposed bit-flip decoder can achieve significant signal-to-noise ratio (SNR) gain which is comparable to that of a cyclic redundancy check-aided SC list decoder with a moderate list size. In addition, the decoding latency of the proposed BP bit-flip decoder is only slightly higher than that of the conventional BP decoder in the medium and high SNR regions.