On-The-Fly (OTF) observation method is developed for the efficient use of 6 M radio telescope at Seoul Radio Astronomy Observatory (SRAO). This technique, in which data and information of antenna position are recorded synchronously while driving a telescope regularly and rapidly across a field, provides more efficient use of telescope time and better calibration of the acquired data than the traditional point-to-point observation method does. For the realization of the method, we (1) added RT-Linux modules to the existing operating system, (2) replaced digital voltmeter with voltage-to-frequency converter, and (3) modified many SRAO observation programs. By observing Moon and G78.2+2.7 using this method and comparing them with previous observations, we verify the successful operation and efficiency of the OTF observation mode.