Mesenchymal stem cell (MSC) is one of somatic stem cells useful for regenerative medicine. This type of stem cell can be easily isolated form adult tissues such as bone marrow (BM). However, MSC isolation is difficult in elder patients and self-MSC cannot be prepared quickly. ES cells, a pluripotent stem cells (PSC), have recently been characterized as a novel source of MSCs. Furthermore, medical progress found a new method of self-PSC generation in which somatic cells can be reprogrammed into pluripotent stem cells, namely induced pluripotent stem cells (iPSCs). In this review, I provide and discuss our recent results regarding to ES/iPS cell-derived Mesodermal cells and MSCs. Based on this information; I will describe future perspectives for the utility of MSCs and ES/iPS cell-derived MSCs.