Robot programming by demonstration (PUD) system for task in which object requires contact with environment is built based on the controlling skill model. The skill is described in three aspects: contact state classifier, acquirement of contact states sequence and controlling transition between states. The classifier is developed with the support vector machine by using force sense. Sequence of states is obtained from the force signal of demonstration by the event trigger. The velocity command of transition is achieved by linearization method. The PBD system is successfully built with robot controller with open architecture. Robot programming by demonstration (PUD) system for task in which object requires contact with environment is built on the controlling skill model. The skill is described in three aspects: contact state classifier, acquirement of contact states sequence and controlling transition between states. classifier is developed with the support vector machine by using force sense. Sequence of states is obtained from the force signal of demonstration by the event trigger. The velocity command of transition is achieved by linearization method. The PBD system is successfully built with robot controller with open architecture.