Experiments and numerical simulations have been carried out to study residual stress of copper specimens by the identation method with a flat cylindrical indenter. Copper specimens were annealed at different temperatures for 35 min to obtain different residual stress levels. The experiments carried out on these specimens demonstrated the influence of residual stress on indentation behavior. The influence of annealing temperature on the elastic-plastic transition region is quite obvious. A method has been presented to determine material properties, such as elastic modulus and Poisson ratio. This method can also be applied to determine residual stress with the assumption of knowing the yield stress in advance. The advantage of this method is that it can avoid calculating the contact area. In the finite element modeling (FEM), residual stresses on copper specimens are simulated by preapplying stresses. The influence of residual stress on the indentation load-depth curves has been studied by FEM. There is good agreement between experimental and FEM numerical results. A numerical method has also been presented to determine residual stress. In addition, Mises stress and plastic distribution ahead of the indenter have also been studied to help us further understand the influence of residual stress.