Haptic security features, which are generally not visually perceptible or reproducible, are applied on a surface of a substrate according to a predetermined scheme. The haptic security features are complemented by visual features that bear a relationship to the haptic security features, and/or otherwise to features of an underlying image that is already printed on the substrate. One or more colored ink layers that includes characters or other features that bear a relationship to the haptic security features is embedded into the haptic security features on the surface of the substrate to form a composite security feature that has visual information as well as haptic response. Haptic security features are based on redundantly encoding features that are pre-printed on the substrate in a preliminary step of forming a visual image on the substrate by overprinting portions of the underlying pre-printed image related to the haptic security features.