With the development and research on the ocean, underwater mating technique has received wide applications such as the exploration of ocean bed, the scientific observation, the deep ocean workstation, and the aided submarine lifesaving. By investigating the mating devices at home and abroad, a mating device of underwater vehicle was developed. Three-dimension assembly of the mating device indicated it can meet the working space of underwater vehicle passageway and there is no interference. It is analyzed that the device can meet the need of a bigger obliquity. Design and simulation on control system of mating device was conducted. The simulation results showed that the system is stable, and it lends itself to the design of the mating device of underwater vehicle.