 We present an untethered pseudo-force haptic device for pedestrian navigation. Our device controls the direction of pseudo-force sensation by delivering asymmetric vibration to the fingertips with a pair of vibrotactile actuators. Our haptic device consisted of two vibrotactile actuators and control unit. The control unit includes a circuit, battery and wireless communication module. Translational and rotational pseudo-forces are induced by controlling the direction of the asymmetric vibration input to the two actuators. We demonstrate an intuitive haptic navigation system in mixed reality environments. Specifically, each attendee, equipped with a wailet device and head-mounted display can walk in a virtual city or cave as a looser retraction guides them toward the goal.