The particle emission in relativistic hydrodynamic model is formulated assuming a sharp 3-dimensional space-time freeze-out hypersurface. The boundary conditions correspond to the energy-momentum and charge conservation between fluid and the gas of free particles. The emission and possible feedback of particles are included into the self-consistent hydrodynamic scheme. For the time-like parts of the freeze-out hypersurface the obtained results are different from the well known Cooper-Frye formula and lead to the shock-like freeze-out. A simple-wave hydrodynamic solution is considered in detail to illustrate some aspects of new freeze-out procedure.