Virtual agents are artificial intelligence systems that can interact with users in virtual reality (VR), providing users with companionship and entertainment. We propose a modular haptic agent (MHA) prototype system, enabling the tactile simulation and encountered-type haptic interaction of common virtual pet agents through a modular design method and a haptic mapping method. Meanwhile, the MHA system with haptic interaction that is actively initiated by the agents according to the user’s intention, which makes the virtual agents appear more autonomous and provides a better experience of human-agent interaction.