Lunar rover development involves a large amount of validation works in realistic operational conditions, including its mechanical subsystem and on-board software. The traditional simulation step is to construct model, input parameters, execute a simulation, and visualize the results. However, a more insight and higher productivity can be achieved if these activities are guided by human simultaneously. In this paper, a human-guided simulation method for China lunar rover simulation environment (CLRSE) that affords real time capabilities with high fidelity has been presented. It studied the input of kinematics simulation, analyzed a quick steering method of complex dynamic interactions between wheel and soft moon ground, and presented a way of path choosing by human guided. And the application which runs on PC Cluster and Silicon Graphics is also developed in this environment.