A control system and method of massage machine for acting massage therapy on human body includes a common drive motor for driving multiple massage heads, multiple routine keys for setting motor routines and the rotation direction of the drive motor via a multiple sets of motor switches, a timer, and a Single Chip Microcomputer controller for controlling. In operation, a user could not only set operation mode or routine via the routine keys and then activate massage procedure, but also could change the operation mode or routine of the massage machine by reselecting the routine keys at any time.