Let $\mathcal{A}/\mathbb{F}_q$ (with $q=p^n$) be an ordinary abelian variety, a classical result due to Lubin, Serre and Tate says that there exists a unique abelian variety $\tilde{\mathcal{A}}$ over $\mathbb{Z}_q$ such that the modulo $p$ reduction of $\tilde{\mathcal{A}}$ is $\mathcal{A}$ and $End(\tilde{\mathcal{A}})\cong End(\mathcal{A})$ as a ring. In 2000 T.Satoh introduced a point-counting algorithm on elliptic curves over $\mathbb{F}_q$ based on canonical lift. In fact the action of the lifted Verschiebung on the tangent space gives Frobenius eigenvalues and hence the characteristic polynomial of the ordinary elliptic curves over $\mathbb{F}_q$. We propose to extend the canonical lift algorithm introduced by T.Satoh to genus 2 curves over finite fields, using the modular polynomials in dimension 2. We first prove the Kronecker condition in dimension 2 case and then succeed to lift the endomorphism ring of $\mathcal{A}$ in dimension 2 case using a general lift algorithm of a $p$-torsion group of an ordinary abelian variety. These results provide an algorithm to compute the characteristic polynomial of a genus 2 curves in quasi-quadratic time complexity.