In our research, we aim to construct the visual-haptic system which generate haptic feedback as if they were touching on the surface of various virtual objects, even though they are touching only a static shape. We focus on the cross modal effect between our vision and haptic sense, which is generally called Pseudo-Haptics, and make up a illusionary haptics only using visual feedback, without any complicated physical devices. In our system, user touches the physical object behind the LCD, and sees the virtual object through the LCD using video see-through methodology. We put two web cameras to provide the different image for each eye and maintain the optical conjugation between viewpoint and cameras using the mirror in the back of the LCD. From images captured by these cameras, we compose visual feedback as if they were touching another virtual shape, based on the detection of the point where they are touching the physical object. This makes up a haptic illusion as if they were touching the virtual shape. By our proposed system, users perceive visual and haptic sensation as if they were touching various virtual shapes, without any complicated physical devices.