A teaching system, includes a computer configured to calculate trajectories of a plurality of robots disposed so as to have a common working area on a virtual space and a display unit. The computer calculates a robot passing area which is a set of trajectories drawn by a point constituting each robot when a driving unit of each robot is operated based on a teaching value on the virtual space for each robot. The computer detects whether the robot passing areas of the robots cross with each other. The computer sets a constraint condition by which none of the plurality of robots is permitted to pass through at least to a partial space within a crossing area in a case where the computer detects that the robot passing areas cross with each other.
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