We introduce a methodology and investigate the feasibility of measuring quantum properties of tau lepton pairs in the $H \to \tau^+ \tau^-$ decay at future lepton colliders. In particular, observation of entanglement, steerability and violation of Bell inequalities are examined for the ILC and FCC-ee. We find that detecting quantum correlation crucially relies on precise reconstruction of the tau leptons rest frame and a simple kinematics reconstruction does not suffice due to the finite energy resolution of the colliding beams and detectors. To correct for energy mismeasurements, a log-likelihood method is developed that incorporates the information of impact parameters of tau lepton decays. We demonstrate that an accurate measurement of quantum properties is possible with this method. As a by-product, we show that a novel model-independent test of CP violation can be performed and the CP-phase of $H \tau \tau$ interaction can be constrained with an accuracy comparable to dedicated analyses, i.e., up to $7.9^{\circ}$ and $5.4^{\circ}$ at ILC and FCC-ee, respectively.