In recent years, along with the increasing sophistication of mobile terminals, systems have been produced to estimate a user’s position using global positioning system (GPS) technology of smartphones and tablet terminals. Some systems use augmented reality (AR) to present a route to the user destination. However, most such systems only show a direction of travel and signs using AR, lack affinity from the viewpoint of humans, and have some points for which GPS cannot be positioned accurately indoors. Therefore, for this study, we developed a mixed reality (MR) navigation system that can set navigation indoors freely without depending on GPS. The system can also present intuitive routes.