This paper is concerned with the dynamics and control of grasping and regulating motion generated by a 3- joint dual finger robot. To manipulate an object, the overall motion of the finger needs to be restricted by the object states. Therefore, we derive the kinematics of dual fingers governed by the object states by using four constraints which are based on the nonslipping assumption between the rigid fingertips and the surface of an object. Then, the control input is derived from Lyapunov stability analysis including the dynamics of the overall system. Further, we propose the solution of the contact forces between fingertips and an object based on physical analysis, which can not be solved mathematically. Finally, computer simulations are presented to verify the effectiveness of the proposed concept and method.