In this paper, we develop a planning system for the routing and scheduling of vehicles in pickup and delivery service such as door-to-door parcel service. Efficient routing and scheduling of vehicles is very important in pickup and delivery service. The routing and scheduling problem is a variation of vehicle routing problem which has various realistic constraints. We develop a heuristic algorithm based on tabu search to solve the routing and scheduling problem. We develop a routing and scheduling system installed the algorithm as a planning engine. The system manage the basic data and uses GIS data to make a realistic route plan.