This study focuses on regenerative brake that it is possible to reuse converting kinetic energy into electrical energy. Regenerative brake can obtain energy by rotating a motor by external force as a generator while braking, and it can be used for driving the motor and supplying the battery. Therefore, using the regenerative braking is performed properly to support the user’s movement behavior. This study proposes a cycling-wheelchair-type mobility assistive system which reuse the energy caused by supporting the user. The effectiveness of proposed system is confirmed through experimental results by using mobility assistive system; brake system driven by velocity control and collision avoidance, active system driven by gravity compensation control. In addition, there is confirmed to the effectiveness of proposed system of switching the brake mode and the active mode by environmental conditions.