In the reduced vector (RV) reducer, the meshing of the cycloidal pin set is a continuous process, the influence of the first contact point on the initial clearance and the small cycle of the cycloidal wheel and pinion transmission are analyzed. A new method to calculate the distribution interval of the first contact point is proposed based on iteration principle. On this basis, the problem of small deformation nonlinear contact of cycloid wheel set in RV drive was solved by means of Hertz contact theory. Then, obtained the continuous single needle tooth meshing force and RV reducer angular error. And the results of traditional stress analysis at special position were compared with the analysis results of the corresponding positions in the continuous analysis. Therefore, the traditional method of force analysis was extended from the analysis of a special position to the continuous meshing of cycloid wheel set. A continuous analysis model of cycloidal wheel and pinion force and angle error was established. Then, the influence of the parameters of cycloidal wheel pair on the meshing force of single pin gear and the angular error of RV reducer is studied.