Cyber-Physical systems (CPS) is a unified entity that deeply integrates computing processes and physical processes. It is a next-generation intelligent system integrating computing, communication, and control. It is widely used in various applications. The dynamic behavior of CPS is always hybrid and stochastic. Modeling and simulating the behaviors of CPS is crucial for developing high-quality CPS. However, it is still lack of domain modeling approach for CPS supporting the construction of CPS domain models and simulation techniques to simulate CPS domain models. To address these issues, this study proposes a domain-specific modeling language for CPS named SHML to support modeling the behaviors of CPS. Firstly, the metamodel of SHML is defined as the abstract grammar according to the domain knowledge of CPS. Moreover, the concrete syntax and the operational semantics are also given. Secondly, based on the GEMOC studio framework, the graphical modeling tool of SHML is implemented. In addition GEMOC sequential execution engine and Scilab engine that can simulate continuous behavior are integrated, which supports the simulating hybrid behavior of CPS. The proposed wrok provides a domain modeling and simulation approach for CPS, which provides an effective approach and tool to support the modeling and simulation for CPS.