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In this paper, we propose a cost-reduced method for finite-temperature molecular dynamics on a near-term quantum computer, Quantum Car-Parrinello molecular dynamics (QCPMD). One of the most promising applications of near-term quantum computers is quantum chemistry. It has been expected that simulations of molecules via molecular dynamics can be also efficiently performed on near-term quantum computers by applying a promising near-term quantum algorithm of the variational quantum eigensolver (VQE). However, this method may demand considerable computational costs to achieve a sufficient accuracy, and otherwise, statistical noise can significantly affect the results. To resolve these problems, we invent an efficient method for molecular time evolution inspired by Car-Parrinello method. In our method, parameters characterizing the quantum state evolve based on equations of motion instead of being optimized. Furthermore, by considering Langevin dynamics, we can make use of the intrinsic statistical noise. As an application of QCPMD, we propose an efficient method for vibrational frequency analysis of molecules in which we can use the results of the molecular dynamics calculated by QCPMD. Numerical experiments show that our method can precisely simulate the Langevin dynamics at the equilibrium state, and we can successfully predict a given molecule's eigen frequencies. Furthermore, in the numerical simulation, our method achieves a substantial cost reduction compared with molecular dynamics using the VQE. Our method achieves an efficient computation without using widely employed method of the VQE. In this sense, we open up a new possibility of molecular dynamics on near-term quantum computers. We expect our results inspire further invention of efficient near-term quantum algorithms for simulation of molecules.