Because of high torque and easiness of speed control, Direct Current(DC) motors have been used for a long time. But, its applications are limited in circumstance and performance, since they contained brush and commutator. The commutation characteristic gives effect to life and performance of the DC motor. Naturally, the commutation characteristic analysis is strongly required. In this paper, With the result of finite element analysis, The inductance is calculated each rotor position and applied to the voltage equations coupled with commutation equation. Also, contact resistances of brush/commutator assembly are considered using contact area and brush width converted with commutator segments. The time derivative term in the differential equation is solved in time difference method. This algorithm was applied to 2-pole shunt DC motor. We considered commutation characteristic by changing contact resistance between brush and commutator segment.