TPS developed in the 1950’s is a business model and collection of tactical methods to pursue high quality, low cost and short lead-time. It emphasizes to eliminate non-value added activities (waste) and to construct continuous flow processes. The TPS tools such as Kanban, Andon are only the tip of the iceberg. TPS is people centric system. It is more critical issues how to change culture to involve people in Kaizen. Several ideas for better agile software development are presented from my experience of enhanced TPS development at Toyota.