This study discusses a design of compensation filter for multilateral control under time delay. Multilateral control is considered to be effective for tele-teaching by hand. However, time delay for communication among the systems can cause several adverse effects such as destabilization and unstable overshoot in position tracking. Among them, this study considers the overshoot in free motion and designs specialized compensator based on analyses on transfer functions. The proposed filter can improve the performance of free motion while keeping the other performances same, and it is expected to work especially for remote trajectory teaching using multilateral control. Applicability of the proposal is tested by simulations and experiments.