In this study, we extend the optimal execution problem with convex market impact function studied in Kato [14] to the case where the market impact function is S-shaped, that is, concave on [0,x 0 ] and convex on [x 0 , ∞) for somex 0 ≥ 0. We study the corresponding Hamilton-Jacobi-Bellman equation and show that the optimal execution speed under the S-shaped market impact is equal to zero or larger thanx 0 . Moreover, we provide some examples of the Black-Scholes model. We show that the optimal strategy for a risk-neutral trader with small shares is the time-weighted average price strategy whenever the market impact function is S-shaped.