A method for encoding handwritten symbols operates upon penstroke data received from a device capable of sampling a stylus position at discrete intervals. Each handwritten symbol is segmented into an ordered sequence of discrete strokes. An are length and initial and final tangent angles are evaluated for each of these strokes. Each stroke is encoded in the form of a parameter set comprising position coordinates of the initial and final endpoints of the stroke, the arc length, and the initial and final tangent angles. In specific embodiments of the invention, the segmentation is based, in part, on properties of the handwritten symbol when it is expressed as a curve .phi.(s), wherein s represents arc length and .phi. represents the net turning angle.