Kinematic simulation for robot is on of the important research. In this paper, 3D model of SCARA robot is build in Pro/E. And then a method of transferring Scara models in Pro/E to MATLAB is carried out . In addition , Typical D-H method is applied to set up the kinematics model of SCARA robot in this paper . Forward and inverse kinematic is computed for satisfied the need of position and posture of the SCARA robot . The results of the kinematic simulation shows the validity and facilities of the programs .