A purpose of this paper is to expedite onerous initial procedures when a force-controlled parallel robot is taught task motions by the off-line task teaching/playback system which we have developed to realize the motion planning suitable for tasks and playback task motions dexterously. In this teaching system, the numerical teaching method has been employed to give detailed descriptions of the motion parameters, but it brings out a trade-off between fine-tuning and complication. Therefore, new devices and functions are added to the teaching system and multiple teaching modes are implemented for solving this problem. The main feature is the use of task teaching with human demonstration data which are obtained in real and virtual human motion measurement systems. The initial teaching data are generated by the demonstration data and the robot commands are converted into them with the control parameters. Typical task is demonstrated and we verify the effectiveness of the teaching modes experimentally.