In this paper, we propose a compensation method of a tele-driving system containing time-varying delay based on model predictive control(MPC). Especially, we aim at the improvement of tracking performance and response and the stabilization of the system including MPC. The difference between the input to the prediction model and the input to the plant is reflected in the cost function of the MPC to improve the responsiveness of the system. The MPC controller is designed to maintain the stability by imposing constraints of the bounded inputs through the introduction of a virtual substitute controller. The performance of the proposed method is evaluated by numerical simulations and experiments with human operators.