Ignition property of reduced-toxicity hypergolic bipropellant was investigated under the condition that various parameters such as concentration, mixture ratio, propellant temperature were changed. 3-Methylaminopropylamine doped with sodium borohydride was used as a fuel, and propellant grade hydrogen peroxide was used as an oxidizer. As a result, it was found that this bipropellant has two ignition mode. Under the condition that concentrations of hydrogen peroxide and sodium borohydride are higher than certain values, ignition delay times are less than 4msec and do not depend on mixture ratio. On the other hand, ignition delay times become larger as mixture ratio increases under the condition of lower concentration. Even in the former ignition mode, it was observed that the growth of flame almost stopped for a while just after ignition under the high mixture ratio conditions. It was also found that temperature of hydrogen peroxide has some effect on ignition delay time, whereas that of fuel has little effect. Considering from these experimental results, ignition model formed by three phases was proposed. In this model, the cooling effect by unreacted hydrogen peroxide in condensed phase is considered to have potent effect on ignition delay time and post ignition behavior. This feature is caused by high optimum mixture ratio and exothermic self-decomposition property of hydrogen peroxide.