This paper proposes a motion-copying system using modal information for motion reproduction. A motion-copying system has been proposed as the system of saving and reproducing a human motion. However, the conventional system can not reproduce the stored motion when an environmental location is changed between a motion-saving phase and a motion-loading phase. Then, a velocity-based motion-copying system has been proposed. Although this system can reproduce the stored motion once the system contacts with the environment, it takes time to adapt the different location of environment. To reproduce the human motion which contains vivid haptic information, it is needed to construct a much strict motion-reproduction system. Therefore, the motion-copying system using modal information is proposed in this paper. The proposed method stores and reproduces the estimated force and the differential mode of position responses, while the conventional method uses force and position responses of the human motion. By the proposed method, the stored motion can be reproduced precisely when the environmental location is unknown. The validity of the proposed method is confirmed by experiments.