Local thermal stimulation of the local body has been shown to provide comfort. In this study, we examined whether the duration of temperature change affects comfort. First, we presented warm and cold stimuli in different durations and on different areas of application on the participants’ forearms and compared the physiological and psychological responses to the resultant temperature change. The study found that participants felt comfortable when the temperature change occurred over 3 s or 20 s over a larger area. Furthermore, we found that a stimulus of 42°C can cause discomfort. Afterwards, we compared warm stimuli at different temperatures, finding that pain occurred when the temperature changed in a short time and if the stimulus exceeded 40°C. We conclude that it is important to consider adjusting the duration of temperature change and the heat transmitted according to the desired temperature of the stimulus and skin area affected when design comfortable thermal stimulations.