Adaptation to temporal asynchrony between senses (audiovisual and audiotactile) affects the subsequent simultaneity or temporal order judgment. Here, we investigated the effects of adaptation to temporal asynchrony between vision and touch. Participants experienced deformation of virtual objects with a fixed temporal lag between vision and touch. In subsequent trials, the visual and haptic stimuli were deformed with variable temporal lags, and the participants judged whether the stimuli became deformed simultaneously. The point of subjective simultaneity was shifted toward the adapted lag. No intermanual transfer of the adaptation effect was, however, found. These results indicate that the perceptual simultaneity between vision and touch is adaptive, and is determined separately for each hand.