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As an extension in precision agriculture, it utilizes various high techniques to manage soil and water resources in pasture environment. However, the pastureland, which is different from arable field, does not allow the on-the-go survey with multi-sensor system because of the physical destruction in the field. This study used an innovated dual-sensor penetrometer together with a GPS receiver to collect the information of soil water content and hardness in a pastureland (1.27hm2). To present the distribution of both parameters in field-scale, firstly, partial least squares (PLS) was employed to mend the set of raw data due to over-hard, and then Kriging interpolating method was used for digital mapping. Moreover, the spatial variability of each parameter associated with the correlation between water content and hardness was preliminary investigated.