Recently, technology which deals with tactile sense has attracted attention in various fields. In particular, researches about storing and reproducing human motion are one of important fields for the haptic technology. A motion-copying system is known as one of efficient methods to achieve storing and reproducing human motion. However, it is known that environmental condition change is serious problem for the motion-copying system. To resolve this problem, many methods have been proposed. However, most of them are not sufficient because these methods deal with only 1-DOF motion and they are for adapting only environmental position change. In this paper, a reproduction method adapting environmental angle change is proposed using 2-DOF system. Validity of the proposed method is confirmed by experiment. By the proposed method, adaptivity of the motion-copying system is improved.