This paper presents a new inverse kinematics method that utilizes the motion data for realtime control and editing. The key idea is to extract parameters necessary for inverse kinematics from the motion data. These parameters are the weight matrix, which determines the motion of the redundant joints, and the transformation functions that define the motion of the end effectors. User can control the motion by dragging a body segment using a mouse, and the method calculates the new motion using the pre-computed parameters. The method enables interactive editing, warping, and retargeting character motions.