A framework and methodology to realize robot-to-human behavioral expression is proposed. Human-robot symbiosis requires to enhance nonverbal communication between humans and robots. The proposed methodology is based on movement analysis theories of dance psychology researches, namely Laban, Lamb and Kestenberg. Two experiments on robot-to-human behavioral expression are also presented to support the methodology. One is an experiment to produce familiarity with robot-to-human tactile reaction. The other is an experiment to express a robot's emotions by its dances. This methodology will be a key to realize robots that work close to humans cooperatively.