This study aimed to investigate the effect of four common types of Qigong position (standing, sitting, supine, and horse-riding position) on the autonomic nervous system. Thirty healthy subjects participated in this study once a week for four weeks. Electroencephalogram (EEG) was measured three times (before, during, and after the position) while the subject maintained one of four positions for ten minutes. There were significant changes in HRV components compared with EEG power spectra in the standing position. Especially, the ratio of low-to-high frequency (LF/HF) which represents a state of balance of autonomic nervous system was increased. In the sitting position, $eta$ wave which reflects a state of alert consciousness was increased and both the sympathetic and parasympathetic nerves were activated. On the other hand, in the spine position, $ heta$ wave which signifies a state of relaxation was increased and heart rate (HR) was decreased. Activation of sympathetic and parasympathetic nerves was also observed in this position. Significant increases of indices related to awakening and concentration were observed accompanied by increase of HR and a sympathetic nerve was activated in the riding-horse position. In the present study, it was shown that each Qigong position caused various and significant changes in autonomic nervous system. It would be expected that these results can be applied in the choice of appropriate Qigong position according to objective of Qigong therapy although it is remained to further evaluate the effects of long-term maintenance of Qigong positions and repeated Qigong training.