In this article, the design of the flexible forming process considering die shape compensation using an iterative over-bending method based on numerical simulation was conducted. In this method, the springback shape obtained from the final step of the first forming simulation is compared with the desired objective shape, and a shape error is calculated as a vector norm with three-dimensional coordinates. The error vector is inversely added to the objective surface to compensate both the upper and lower flexible die configurations. The flexible die shapes are recalculated and the punch arrays are adjusted according to the over-bent forming surface. These iterative procedures are repeated until the shape error variation converges to a small value. In addition, experimental verification was conducted using a 2000-kN flexible forming apparatus for thick plates. Finally, the configuration of the prototype obtained from the experiment was compared with the numerical simulation results, which had springback compensation. It is confirmed that the proposed method for compensating for the forming error could be used in the design of flexible forming of thick-curved plates.