The input command shaping technique is integrated with computerized numerical control (CNC) interpolators to suppress structural vibration of machine tools. The algorithm is called integrating input-shaping interpolator (ISI) which applies the input shaping on the acceleration/deceleration stage before interpolation (ADBI) such that the command contour errors can be avoided. Theoretical derivation and experiments are conducted on an X-Y table. The effectiveness of the proposed technique has been validated and the vibration of the table could be reduced significantly with the proposed algorithm.