Bilateral controls in a case that slave system has flexible mechanism have been researched. Conventional methods focused on force transmission and position tracking between master system and load of slave system. However, due to the fact, an excessive force will act on an environment when an external force is applied to a slave actuator. This paper proposes a novel bilateral control of two-mass resonant system based on a concept of multilateral control. Control goals of the proposed method are composed of one common mode and one differential mode in multilateral control. In particular, the control goals of force control in the proposed method is set as realization of law of action-reaction between the master system, the slave actuator and the load. Therefore, it can be avoided that an excessive force acts on the environment. In addition, the local feedback on torsional mode of the slave system was conducted for suppression the vibration instead of achieving the neglected control goal in differential mode of the multilateral control. The proposed method clarifies the physical meaning of the multilateral control. Finally, the validity of the proposed method is verified by simulations.