Use this example in my other answer: https://stackoverflow.com/a/43012138/3555925
You can get more details in that answer.
#!/usr/bin/env python
# -*- coding: utf-8 -*-
import os
import sys
import select
import termios
import tty
import pty
from subprocess import Popen
command = 'bash'
# command = 'docker run -it --rm centos /bin/bash'.split()
# save original tty setting then set it to raw mode
old_tty = termios.tcgetattr(sys.stdin)
tty.setraw(sys.stdin.fileno())
# open pseudo-terminal to interact with subprocess
master_fd, slave_fd = pty.openpty()
# use os.setsid() make it run in a new process group, or bash job control will not be enabled
p = Popen(command,
          preexec_fn=os.setsid,
          stdin=slave_fd,
          stdout=slave_fd,
          stderr=slave_fd,
          universal_newlines=True)
while p.poll() is None:
    r, w, e = select.select([sys.stdin, master_fd], [], [])
    if sys.stdin in r:
        d = os.read(sys.stdin.fileno(), 10240)
        os.write(master_fd, d)
    elif master_fd in r:
        o = os.read(master_fd, 10240)
        if o:
            os.write(sys.stdout.fileno(), o)
# restore tty settings back
termios.tcsetattr(sys.stdin, termios.TCSADRAIN, old_tty)