This study presents the continuation scheme of the recursive projection method (RPM) for power system equilibrium tracing and bifurcation detection using time-domain simulation code (TDSC). For a given operational condition, a basic RPM algorithm has been demonstrated to be very effective to extract power system steady-state and small-signal stability information from TDSC. It is now combined with arc-length continuation technique to mitigate singularity problems when the operational parameter variations are considered. Along the equilibrium tracing path, saddle node bifurcations (SNBs) and Hopf bifurcations (HBs) can be detected conveniently from byproducts of the RPM procedure. The proposed method takes advantage of available resources and avoids full state-space linearisation and large-scale eigenspectrum computation. The significance of the proposed approach is validated by a test example on New England 39-bus system.