The user’s palm plays a relevant role in the detection and manipulation of objects. The GlideReality system was designed to increase the immersive Virtual Reality (VR) experience and make it more interactive, providing multi-contact and multi-modal haptic stimuli on the user’s palm using a novel wearable haptic display LinkGlide. The proposed device, which consists of three five-bar inverted linkages generating three contact points, is used to provide tactile stimuli to the users in the VR environment. The force sensors, located at each of the contact points, provide feedback to the control system to generate the required stimuli with a specific force. In addition, an impedance control was developed to generate the sensation of objects stiffness. The system consists of an HTC Vive Pro Headset for room scale VR, the trackers for the hand position, and the game engine Unity 3D for the integration of the system and the application development. The GlideReality system provides highly immersive interaction with virtual objects in the different applications: BallFeel, PressFeel, and AnimalFeel. With this system, we can potentially achieve a highly immersive VR experience and make it more interactive.