The yoke, a component of conventional motor-driven power steering system, often contains welding defects from its manufacturing process. To eliminate these defects, the precision cold forging process has been tried. In this study, the double-action complex forging has been used to manufacture a torsion joint yoke. The backward extrusion proved faster than the forward extrusion in forging of the product. The double-action complex forging process utilized an upper die composed of a punch, a punch guide, a disc spring and a coil spring. The forged material pushes up the punch guide, and then the disc spring and the coil spring balances the backward extrusion force. Consequently, the flow of material was essentially in the forward direction, resulting in a successful forging operation. The forging load of Al 6061-T6 was higher than that of the automotive structural hot rolled plate.