Despite their importance in the formation and evolution of stellar clusters and galaxies, the formation of high-mass stars remains poorly understood. We recently started a systematic observational study of the 22 GHz water and 44 GHz class I methanol masers in high-mass star-forming regions as a four-year KaVA large program. Our sample consists of 87 high-mass young stellar objects (HM-YSOs) in various evolutionary phases, many of which are associated with two or more different maser species. The primary scientific goals are to measure the spatial distributions and 3-dimensional velocity fields of multiple maser species, and understand the dynamical evolution of HM-YSOs and their circumstellar structures, in conjunction with follow-up observations with JVN/EAVN (6.7 GHz class II methanol masers), VERA, and ALMA. In this paper we present details of our KaVA large program, including the first-year results and observing/data analysis plans for the second year and beyond.