Haptic illusions of continuous lateral motion across the skin are provided in two distinct ways. The first approach is to provide a discrete array of tactors and drive them to provide normal forces to the skin in a sequential pattern along the array of tactors. The second approach is to provide a discrete array of tactors that each provide both normal and lateral forces to the skin in a sequential pattern along the array of tactors. In both cases, the result is a perceived motion of a contact point across the skin, occurring along the length of the factor array.