This paper proposes a design scheme of bilateral teleoperation of the constrained system with time delay. The stability of bilateral teleoperation with PD control is proved by the proposed Lyapunov function. For the bilateral teleoperation with constraints, a command governor is provided using the model prediction. By using the command governor, the bilateral teleoperation can avoid constraints violations. In the command governor, the proposed algorithm can decrease the computational cost in comparison with the quadratic programming. In the simulation and experiment, the performance of the proposed bilateral teleoperation system is verified using a single-degree of freedom master/slave system.