Based on the finite element analysis method, the contact state of the tooth pairs during the initial meshing of the cycloidal pin wheel was studied. By considering the profile modification of the cycloidal pin gear pair and the modeling accuracy of the cycloidal gear tooth profile, the threedimensional model of the cycloidal pin wheel pair was established by using the APDL language provided in ANSYS. Then, by considering the finite element mesh quality and the computational efficiency of the finite element model, the finite element model was generated by using the VSWEEP command and the mesh was refined locally. Finally, by considering the actual working condition of the cycloidal pin wheel, the contact pair and boundary conditions of the cycloidal pin wheel were established. The analysis results show that there are 6 teeth in the initial meshing moment of the cycloidal pin wheel to participate in the force transmission. The first contact tooth is the 6th tooth, and the deformation of the cycloidal tooth and pin hole in the vicinity of the meshing tooth pairs is relatively large.