Several research facilities including a nuclear power plant have been decommissioned to date in the Japan Atomic Energy Research Institute so that the experience on decommissioning was effectively accumulated through these decommissioning projects. The research and development program has also been continued focusing on efficiency of dismantling activities and minimization of waste arising, which will be applied to future decommissioning of commercial nuclear power plants as well. Computer code systems for planning of decommissioning activities and simulation of remote dismantling have been developed based on the experience of the first decommissioning of a nuclear power plant, in which the various data were systematically collected to characterize dismantling activities. The R&D program and the experience on decommissioning nuclear facilities in JAERI will be described in this paper.