This paper introduces the development of a motion cueing algorithm which produces motion cues from vehicle motion signals. The simulator, a parallel manipulator, has the limitation on the workspace. In order to overcome this problem, the motion cueing algorithm is needed. Here, we suggest a new optimal motion cueing algorithm where the human body model (ISO 2631-1) as well as the human perception model are incorporated. And we show the performance of this algorithm using the computer simulation. In simulation, we produce motion cues from vehicle motion signals through the proposed algorithm and show sensation errors which the human feel between vehicle signals and the simulator motions subjected to motion cues.