It is difficult to keep motivation for daily house cleaning as people must repeat the same task monotonically. Floor wiping is a task to wipe the entire floor, but it is usually difficult to complete the task due to such obstacles as furniture. Therefore, the purpose of this study is to provide a system that supports a complete and enjoyable floor wiping by multimodal feedbacks including tactile and auditory feedbacks. We developed a system composed of floor wiper, optical motion capture system for reconstruction of the location of the wiper, tactile feedback device, Bluetooth surround sound headphone, and PC. In addition, we implemented “rhythm game” to increase enjoyment, and 3D surround sound and vibration to present unwiped area. As a result of the evaluation experiment of our developed system, cleaning became fun with our system. However, the improvement of feedbacks as well as the accuracy of the wiper’s location restoration remain as future work.