To investigate the resistance mechanism of an object during vertical upward movement in granular media, to address the limitations of previous experimental studies that were largely confined to two-dimensional systems and lacked comprehensive quantitative characterization of the complete resistance curve, this paper adopts a combined method of three-dimensional simulation and experiment to numerically simulate the vertical lifting process of a cylinder from granular media. The macroscopic evolution of resistance and microscopic grain-scale information are acquired. The results show that the resistance acting on the cylinder exhibits a distinct three-stage evolution: in the initial lifting stage, the resistance rises rapidly to a peak; subsequently, it decreases sharply; and finally, it enters a stage of slow decline accompanied by minor fluctuations. Microscopic analysis reveals that the sharp change after the peak stems fromlarge-scale granular rearrangement, whereas after lifting about 22 mm, the formation of a stable shear band enables the grains above to form a stable load-bearing structure that can sustain loads, with subsequent resistance fluctuations primarily dominated by frictional behavior within the shear band. Through systematic analysis of the grain velocity field, force chain network evolution, and the distribution of the ratio of average normal pressure to equivalent shear stress, the spatial location of the shear band and the mesoscale grain transition from a static bearing state to a flowing state are further elucidated. Based on these findings, a quantitative mechanical model that simultaneously considers the frictional resistance on the cylinder surface and the pressure from the overlying grains is developed. The calculated results are in good agreement with the simulation curves. This study provides a concise theoretical framework and quantitative method for estimating the resistance of objects moving in granular media, which holds potential application value in fields such as civil engineering and bio-inspired engineering. Future research could further explore the effects of granular material properties, object geometry, and dynamic lifting rates.