In this paper, a bipedal locomotion planning based on Virtual Linear Inverted Pendulum Mode (VLIPM) is proposed. The purpose of the proposed method is to achieve the desired foot placement and the desired COG position and velocity in walking motion of a bipedal robot. In order to realize the purpose, the foot placement and trajectory planning are calculated separately. In calculation of the foot placement, VLIPM and Virtual Supporting Point (VSP) are used. Here, VLIPM is calculation method of the modified foot placement to realize the desired COG position and velocity. By using VSP, the difference between the modified and the desired foot placements is compensated. In the result, the desired foot placement is obtained. While, trajectory planning is applied to LIPM with VSP and 5 dimension polynomial. Boundary conditions of polynomial are set to the desired robot state. In the result, the desired COG position and velocity are also obtained. By applying to different models in calculations of the foot placement and trajectory planning, the desired robot motion is realized.