The Milky Way (MW) is interacting with its satellite galaxies and the tidal remnants of satellite galaxies have been observed especially in the MW halo. Understanding the spatial and velocity distributions of stars stripped from satellite galaxies will be of particular importance when interpreting the data from upcoming observations, such as Gaia, Subaru-HSC and PFS. We study tidal stripping events of satellite galaxies with various internal structures using high resolution N-body simulations. The dynamics of satellite galaxies is dominated by dark matter halos, but their density structure is still uncertain. The simulations reveal satellite galaxies with more tightly bound dark matter halos are more robust against the tidal force of the MW and have longer lifetimes than loosely bound ones (Ogiya et al., in prep.). Density scratches on the MW caused by the gravitational force of satellite galaxies and the observability are also discussed (Ogiya & Burkert 2016).