This paper proposes the novel technology for the haptic skill database. In recent years, skill preservation and skill acquisition have been serious problems in various fields. However, the conventional recording technology of visual and audio information is not suitable for the preservation and acquisition of the skill. This is because the expert skill requires haptic information that is obtained from the real environment. So, in order to realize the preservation and acquisition of the skill, the novel database which is able to store and replay bilateral haptic information as well must be developed. Thus, in this paper, the haptic skill database based on bilateral control that is able to preserve the skill and to replay it is proposed. The experimental results show the viability of the proposed methods.