The micelle formation and the dynamic coexistence in amphiphilic solution are investigated by molecular dynamics simulation of coarse-grained rigid amphiphilic molecules with explicit solvent molecules. Our simulations show that three kinds of isolated micelles (disk, cylindrical, and spherical micelles) are observed at a lower temperature by quenching from a random configuration of amphiphilic molecules in solution at a higher temperature. The micellar shape changes from a disk into a cylinder, and then into a sphere as the hydrophilic interaction increases whereas it is not so sensitive to the variation of the hydrophobic interaction. This fact indicates that the hydrophilic interaction plays an important role in determining the micellar shape in the range of the interaction parameters used. It is also found that in a certain interaction parameter range, two kinds of micellar shapes coexist dynamically. From the detailed analyses of the dynamic coexistence, it is ascertained that the dynamic coexistence of a cylindrical micelle and a spherical micelle accompanies the coalescence and fragmentation of micelles while that of a disk micelle and a cylindrical micelle does not, but exhibits the continuous change between them.