Robots that support humans cooperatively should move as being accepted emotionally. To form such a movement, it is one of the effective methods for the robots to make the gentle movement to take care of the humans. In this research, it is paid attention to the motion that a hander begins to hand an object to a receiver before the beginning of motion of the receiver. Next, we clarify the feature of the trajectory between two humans, and propose an algorithm to generate the handing motion of the hander. The utility of the proposed algorithm is examined through the experiments where an arm robot hands an object to a human.