The invention relates to a robot teaching programming system which comprises a teaching system, a posture tracking system, a physical robot system and a computer. According to the teaching system, a handheld teaching tool is connected with a teaching controller, and a teaching data collector is connected with the teaching controller and the computer. According to the posture tracking system, a camera set, a posture calculating unit and the computer are sequentially connected, and a tracking marker is fixed to the handheld teaching tool. According to the physical robot system, a physical robot, a physical robot controller and the computer are sequentially connected. The invention further provides a robot teaching programming method, and teaching programming is achieved through coordinate system establishment, interactive teaching, data post-processing and physical robot control. The robot teaching programming system and method have the advantages that a front-line worker uses the handheld teaching tool to interactively complete teaching programming, programming is convenient, in addition, experience and skills of teaching staff are reflected in a program, augmented reality simulation can be conducted, and interference between the robot and working scenes can be found in time.