To investigate the wind effect on the flight kinematics of the parafoil system, a six-degree-of-freedom flight dynamics model considering wind interference is established. Runge Kuta method is applied to simulate the gliding performance of the parafoil system, and the numerical results of the parafoil flight kinematics under wind are consistent with the literature qualitatively and quantitatively. On this basis, the flight kinematics of the parafoil system under wind of different directions at different flight altitudes is investigated numerically. The transient variations of velocity, trajectory and attitude angles are compared as well as those at steady state. The results showed that the wind changes the parafoil relative speed to air, leading to different aerodynamics angles and hence aerodynamic performance of the parafoil. As a result, the system dynamics equilibrium becomes unbalanced, and the speed as well as attitude changes rapidly until reaches steady state. The steady flight speed is slightly larger than the vector sum of original speed and wind speed. The system pitches down against the wind, pitches up in the wind, and system exhibits roll and yaw motions in the crosswind. Flight altitude affects the equilibrium speed of the system through the wind speed and air density. The higher the flight altitude, the larger the flight speed, however, the glide ratio and attitude angles are nearly constant. The flight characteristics pf parafoil system under wind in this paper can contribute to the flight trajectory planning and flight control.