In teleoperation, it is very important to have salient cooperation between the human operator and the control mechanism equipped on the remote manipulator. The cooperation becomes especially crucial when the teleoperation system is used to execute compliance tasks in which simultaneous control of both position and force may be demanded and inevitable contact with environments is encountered. In this paper, we focus on the issues of planning, execution, and coordination between the human operator and the remote controller in teleoperating a compliance task. In addition, we are also interested in how the intelligence in planning and control to be distributed between them according to the specific characteristics of a given compliance task. For the study, a VR-based (Virtual Reality) telerobotic system for compliance tasks is developed. The telerobotic system provides both haptic and visual information, and possesses a remote intelligence controller, capable of compliance control. Experiments based on various types of compliance tasks are performed for the investigation.