In recent years, the succession of expert skills has become an issue due to the declining birthrate and aging population. In this study, we focused on calligraphy, which is a traditional skill of Asian countries such as China and Japan. Motion-copying system (MCS) can store and reproduce human motion. However, in order for MCS to function properly, the environment for preservation and reproduction must be the same. Although various studies have been conducted to solve the problem, most of these studies have dealt with only positional variation or only impedance variation. In this study, we proposed an algorithm to compensate for both position and impedance changes. In concrete terms, modify the saved motion command value appropriately by modeling a calligraphy brush and estimating an environmental impedance. The effectiveness of the proposed method is verified by experiments.