This paper studies the thrust regulation of the tethered space-tug in order to stabilize the target towed by a flexible tether. To compromise between model accuracy and simplicity, a rigid-flexible coupling multi-body model is proposed as the full model of the tethered space-tug. More specifically, the tug and the towed target are assumed as rigid bodies, whereas the flexible tether is approximated as a series of hinged rods. The rods are assumed extensible but incompressible. Then the equations of motion of the multi-body system are derived based on the recursive dynamics algorithm. The attitude motion of the towed target is stabilized by regulating the thrust on the tug, whereas the tether-tension-caused perturbation to the tug's attitude motion is eliminated by the control torque on the tug. The