In this paper, we discuss the heat flow of a pseudo-harmonic map from a closed pseudo-Hermitian manifold to a Riemannian manifold with non-positive sectional curvature, and prove the existence of the pseudo-harmonic map which is a generalization of Eells-Sampsons existence theorem. We also discuss the uniqueness of the pseudo-harmonic representative of its homotopy class which is a generalization of Hartman theorem, provided that the target manifold has negative sectional curvature.