This paper presents a development of new haptic API (Application Programming Interface) that is called K-$Touch^{TM}$ haptic API. It is designed in order to allow users to interact with objects by kinesthetic and tactile modalities through haptic interfaces. The K-$Touch^{TM}$ API would serve two different types of users: high level programmers who need an easy to use haptic API for creating haptic applications and researchers in the haptic filed who need to experiment or develop with new devices and new algorithms while not wanting to re-write all the required code from scratch. Since the graphic hardware based kinesthetic rendering algorithm implemented in the K-$Touch^{TM}$ API is different from any other conventional kinesthetic algorithms, this API can provide users with haptic interaction for various data representations such as 2D, 2.5D depth(height field), 3D polygon, and volume data. In addition, this API supports kinesthetic and tactile interaction simultaneously in order to allow users with realistic haptic interaction. With a wide range of applicative characteristics, therefore, it is expected that the proposed K-$Touch^{TM}$ haptic API will assists to have deeper recognition of the environments, and enhance a sense of immersion in environments. Moreover, it will be useful development toolkit to investigate new devices and algorithms in the haptic research field.