Gear skiving is used as a gear finishing process to reduce distortion errors which occurred on the gears due to the heat treatment. This process is similar to gear hobbing but the difference is that the cutting tool has a negative rake angle and tooth rake offset. The present study simulates the kinematics of the cutting process with the aid of commercial CAD software and allows the precise determination of the non-deformed chips and the developing cutting forces. The simulation model is verified based on the theoretical shape of the produced gear gap and the comparison between measured and calculated cutting forces.