This paper discusses visual servo system for ball dribbling by using bipedal robot «Nao». Countless papers have been written by researchers since the establishment of RoboCup in 1993, which contributes to the progress in robotics and artificial intelligent. However, only few papers discuss dribbling even though ball dribbling is one of major techniques to master to win a game. To achieve ball dribbling, rigid visual servo is needed in order to kick the ball continuously. Because of the noise caused by the oscillation of walking, it is difficult to make a visual servo system that can achieve ball dribbling. In this paper, visual servo system which is able to control both stepping control and walking pattern is proposed. The proposed visual servo system can offer more rigid visual servo with stability than the one that commonly used by applying foot step planner, walking pattern generator and image processing.