We propose a novel full-parallax three-dimensional (3D) display system-RePro3D-that is suitable for interactive 3D applications with haptic feedback.Our approach is based on the retro-reflective projection technology in which several images projected from a projector array are displayed on a retro-reflective screen. When viewers view the screen through a half mirror, they see, without the aid of glasses, a 3D image superimposed in real space. RePro3D has a sensor function that recognizes user input; therefore, it can support some interactive features such as manipulation of 3D objects. In addition, a wearable haptic device, which is a part of our system, provides the user with a sensation of having touched the 3D image. In this paper, we describe the optical system of the high-density projector array used in RePro3D. Then, we describe the development of a prototype of RePro3D. The prototype is used to demonstrate that our system displays full-parallax images superimposed in real space from 42 different viewpoints. The proposed system enables a user to physically interact with the 3D image with haptic feedback.