Pipe thinning is one of the major issues for the structural fracture of pipes of nuclear power plants. Therefore a method to inspect a large area of piping systems quickly and accurately is needed. In this paper, we proposed the method for monitoring pipe thinning. Our basic idea come from that a group velocity of impact wave is different as wall thickness. If the group velocity is measured, wall thickness can be estimated. To obtain the group velocity, time -frequency analysis is used. This is because an arrival time difference can be measured easily in time-frequency domain rather than time domain. To test the performance of this technique, experiments have been performed for a plate and U type pipe. Results show that the proposed technique is quite powerful in the monitoring pipe thinning.