The objective of this study is to suggest the form rolling technology to produce high precision worm on the base of three dimensional finite element simulation and experiment. It is important to determine the initial workpiece diameter in form rolling because it affects the quality of tooth profile. The calculation method of the initial workpiece diameter in form rolling is suggested and it is verified by finite element simulation. The form rolling processes of worm shaft used as automotive part using both the rack dies of counter flow type and the roll dies are considered and simulated with the same numerical model as actual process by the commercial finite element code, BEFORM-3D. Deformation modes of workpiece between the form rolling by the rack dies of counter flow type and the roll dies are investigated from the result of simulation. The experiments using rack dies and roll dies are performed under the same conditions as those of simulation. The surface roughness, the straightness and the profile of worm are measured precisely using the worm shafts obtained from experiment. The results of simulation and experiment in this study show that the form rolling process of worn shaft using the rack dies is decidedly superior to that using roll dies from the aspect of the precision of worm such as the surface roughness, the straightness and the profile of worm.