Abstract: This paper presents a constructive method for generating a uniform cubic B-spline curve interpolating a set of data points simultaneously controlled by normal and curvature constraints. By comparison, currently published methods have addressed one or two of those constraints (point, normal or cross-curvature interpolation), but not all three constraints simultaneously with C2 continuity. Combining these constraints provides better control of the generated curve in particular for feature curves on free-form surfaces. Our approach is local and provides exact interpolation of these constraints.