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A haptic simulator of two-dimensional pegin-hole assembly operations is presented in a virtual environment, considering the dynamics and the surface friction characteristics of the peg and the hole. The operator can operate the virtual peg by inserting his fingers into the two rings at the tips of link mechanisms that display the operating feeling to the operator. By using this simulator, one can measure various variables related to the operator's skill for peg-in-hole task, such as the position of the fingers and peg, the force between fingers and the peg, the contact states between the peg and hole, and so on. To examine the validity of the simulator, comparison between the peg-in-hole task in the virtual and real world has been made. It is hoped that this simulator will help in analyzing the human skill.