Existing haptic-based simulation systems struggle to replicate a realistic experience for dental and dental hygiene students and clinicians. A realistic haptic-based simulator to train periodontal procedures. Realism is accomplished through three distinguished features: (1) a custom grip to attach dental instruments to the haptic device, which enhances the grip experience since learners feel the tactile properties of the instruments (rather than the haptic device stylus), (2) two haptic devices are utilized to simulate haptic feedback with both the dental instrument (dominant hand) and the mirror instrument (non-dominant hand), and (3) a finger support mechanism using parallel manipulation is used for the intraoral fulcrum during probing. The Haptic dental simulator system comprises software and hardware subsystems. The software subsystem comprises of two Graphical User Interface (GUI) windows: the configuration window where an instructor defines periodontal exercises for learners to practice with and a simulation window where periodontal exercises are displayed for learners to interact with. The hardware subsystem includes two haptic devices with grips having the real instruments, and the finger support device.