Nowadays, with the coming of population aging, extractions of skilled human motion and human support techniques are needed in medical or production fields. This paper proposes a method for motion extraction and guide based on haptic information. Haptic information includes human action force and position response. Human action force and position response are sensed by using master-slave robot hand which is bilateral controlled. Skill motion is extracted as action modes and action energies calculated from human action force relationship and position response relationship. Action modes are modes which express action force and position response direction, and action energies are amplitude of each action mode. Motion guide system is composed of action force extraction and modal compliance controller which are designed based on action modes and action energies. The validity of the proposed methods is shown by the experimental results.