This paper describes a development of a gait rehabilitation system for acclivity walking training in home visit rehabilitation. The system consists of a manipulator for each leg. The manipulator can move a user's leg back-and-forth and up-and-down. The end effector of the manipulator is a small step, which is kept in horizontal. By moving the end effector along with a trajectory of healthy individual's step motion, the user can feel as if he/she climbs up/down a slope, even though the step is kept in horizontal. Through comparison of subjects' status during walking on a slope display and our system, the effectiveness of the system is confirmed.