Robust hybrid controller design is presented in this paper for motion and force control of mechanical systems subjected to a set of holonomic or classical nonholonomic constraints and in the presence of uncertainties about plant parameters. A unified and systematic procedure is employed to derive the controllers for both holonomic and nonholonomic constrained mechanical systems, respectively. The proposed controllers can guarantee the system motion asymptotically converges to the desired manifold, and the force tracking errors to be bounded. Numerical simulation has been done to show the effectiveness of the proposed controllers.