Programming by demonstration methods are known as useful methods for non-expert programming. In general, these methods are conducted by motion capture or manual teaching. These methods do not include human force information nor is the natural way human does tasks. On this context, utilization of motion data acquired in bilateral control was considered. This system utilizes motion data as command with the control gains as same as in the bilateral control. However, this method often results in different reproduced results with the saved data because motion reproduction with these gainsresults in inadequate control compliance. In this paper, compliance adjustment method in motion reproductionwas proposed. And its performance in motion reproduction was examined experimentally.