Implementation of robotic service is needed extremely enormous of information including environment, place, user and object knowledge. It is extremely difficult for a robot to do tasks ordered by a human without having some basic knowledge or information. This paper proposes a method to create object knowledge focusing on an object and object's place relationship for the robotic service namely tidy-up service, in which a robot is asked to take objects such as books, cups, dishes on a table to appropriate places automatically. In details, as the first phase, we conduct a questionnaire to collect the trajectories in term of places of individual object from the participants. Based on the collected object trajectory information, we are able to build Markov chain model of the object which the states are possible places and transition probabilities are the probability that the object moved from one place to other places. In final, we are able to use the transition probability including the Markov chain model to predict and provide the next appropriate place. The result showed that the proposed approach is efficient in creating object trajectory as knowledge, hence, helping the robots to and to provide intuitive service.