Cycloidal (also called epicyclical or convex-concave) gears are used less often than common involute gears, which are very easy to manufacture and can be modified by corrections to the gear profile. Cycloidal gears are very sensitive to the proper axial distance between the pinion and the gear. The main advantage of convex-concave gears is the lowering of the contact pressure due to teeth flanks meshing and also the lowering of the slide ratios compared to involute gears. The calculation of the selected geometrical parameters and the contact pressure between the teeth flanks of the cycloidal gearing is described in the presented article.