The computational simulation of the movement of a multibody system which including holonomic constraints moving in plane and in space was studied by using the discrete time transfer matrix method of multibody system (MSDTTMM). With ordinary dynamic method, regarding the Kardan Angle as the orientation angle, the dynamic equations were founded and solved,and the simulation results with or without the constraint violation correction were compared.The simulation results show that it is not necessary to deal with the constraints of the system for the MSDTTMM, because the constraint equations are always satisfied for the computational example studied in this paper.