This paper aims to propose a procedure to decide a color of a bridge, in the view of aesthetics with considering the color harmony of the bridge and its surroundings. Generally, bridge aesthetics is considerably influenced by color selection of the bridge. Therefore, in deciding a color of a bridge, relations or harmony of colors of the bridge and its surroundings should be considered. However, as far as authors know, the procedure to decide the bridge color is not established yet. With this background, this paper proposes a procedure to select color of bridge with considering the color harmony to the bridge surroundings, here the procedure is proposed with modifying the Design Plan for Three-Color Harmony by Naya, et al. The proposed procedure is applied to some bridges, and effectiveness is confirmed.