In this paper, characteristics of wireless power transfer (WPT) systems using magnetically coupled resonance scheme with relay coils are investigated and modeled. Especially, asymmetric frequency splitting characteristics in over-coupled region of WPT with relays are measured and accurately modeled. Transmitter, receiver, and relay coils are modeled with R, L, C equivalent circuits. Using these circuit models and mutual inductances between coils, a WPT system is described with a linear matrix equation. For under-coupled region, a matrix is simplified considering only mutual inductances between adjacent coils. An analytical transfer characteristic of WPT system vs. distance is extracted using an inverse matrix that is acquired by Gauss elimination method for the simplified matrix. For over-coupled region, a matrix considering mutual inductances between non-adjacent coils is used to predict a frequency splitting characteristics accurately. A 6.3MHz WPT system with relay coils is implemented and measured. An accuracy of the model is investigated by comparing the output of the model with the measured results.