Pseudolysimachion nakaianum (Ohwi) T.Yamaz. is an endemic species that is an important species in the forest ecosystems of South Korea. This study aimed to develop an in vitro propagation system for P. nakaianum, to enhance the availability of this rare and endemic plant for commercial horticulture and restoration efforts. We utilized cotyledon explants from in vitro germinated seeds and two types of explants (petiole and leaf) from in vitro seedlings to assess the impact of five different cytokinins on adventitious shoot organogenesis in P. nakaianum. The half-strength Murashige and Skoog (MS) medium, supplemented with 10 µM thidiazuron (TDZ) for both cotyledon and petiole explants, yielded the highest shoot induction rates (61.1 ± 9.6% and 26.7 ± 8.8%, respectively) and the greatest number of shoots (3 ± 0.6 and 4.4 ± 0.5, respectively). Responses from leaf explants were variable, with none showing in vitro regeneration. Successfully acclimatized P. nakaianum plantlets in a greenhouse demonstrated normal growth. This protocol outlines an effective method for the direct in vitro regeneration from cotyledon and petiole explants of P. nakaianum, providing valuable information for the conservation of this species.