Various daily behaviors usually exert pressure on the contact surface, such as lying, walking, and sitting. Obviously, the pressure data from the contact surface contain some important biological information for an individual. Recently, a computer vision task, i.e., pose estimation from contact pressure (PECP), has received more and more attention from researchers. Although several deep learning-based methods have been put forward in this field, they cannot achieve accurate prediction using the limited pressure information. To address this issue, we present a multi-task-based PECP model. Specifically, the autoencoder is introduced into our model for reconstructing input pressure data (i.e., the additional task), which can help our model generate high-quality features for the pressure data. Moreover, both the mean squared error and the spectral angle distance are adopted to construct the final loss function, whose aim is to eliminate the Euclidean distance and angle differences between the prediction and ground truth. Extensive experiments on the public dataset show that our method outperforms existing methods significantly in pose prediction from contact pressure.