It is difficult to create scenes where multiple characters densely interact with each other. Manually creating the motions of characters is time consuming due to the correlation of the movements between the characters. Capturing the motions of multiple characters is also difficult as it requires a huge amount of post-processing of the data. In this paper, we explain the methods we have proposed to simulate close interactions of characters based on singly captured motions. We propose methods to (1) control characters intelligently to cooperatively/competitively interact with the other characters, and (2) generate movements that include close interactions such as tangling the segments with the others by taking into account the topological relationship of the characters.