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Finite element based tooth contact analysis of a rack and pinion system of an impulse continuously variable transmission is performed in this study. The rack and pinion system are designed with involute profile herringbone tooth profiles. The involute profile herringbone tooth profile is a type of concave-convex pro-files, which can be used for heavy load conditions. A contact load distribution model of the rack gear with involute profile herringbone tooth profiles is devel-oped to analyze normal loads of any mashing position of the rack pinion system based on the minimum elastic potential energy theory. With the aim of improving the rack and pinion system design, the actual operation of gears under the terms of the three-dimensional tooth contact analysis is conducted. A rack gear with herringbone tooth profiles and a pinion are used to tooth contact analysis. Based on comparing the results of this analysis, a new type of rack gears with concave-convex involute tooth profile are advantages and disadvantages in terms of the contact stress.