This paper proposes a velocity based motion-copying system for grasping/manipulation motion reproduction. The motion-copying system is able to store and reproduce human motion based on the bilateral control. As the applications, the motion-copying system is expected to be used in various fields such as industrial applications, medical and welfare human assist. In this paper, the motion-copying system is applied to grasping/manipulation motion reproduction. However, by the conventional method, it is difficult to reproduce the saved motion precisely when a diameter of a grasping object in the motion-loading phase is different from that in the motion-saving phase. On the other hand, the proposed method is able to reproduce the saved motion according to the configuration of the object, therefore the diameter of the object needs not to be considered. Performance of the proposed method is compared with the conventional method by simulations, and validity is verified.