Rotary swaging is one of the incremental forming process which is a chipless metal forming process for the reduction of cross-sections of bars, tubes and wires. In the present work, the rotary swaging machine and dies were designed to investigate the formability of TDS(Tube Drive Shaft) used in automotive industry. The process variables such as the speed of forming, the shape of the formed materials and the reduction of area were also estimated to study experimental analyses of rotary swaging process using the materials of 34Mn5 and S45C. From experimental results, it was found that the process variables affected the quality of TDS in terms of hardness, the precision of products and the surface roughness. The hardness after swaging approved to be Increased with the increase in the reduction of diameter. And it was found that the grain size became smaller and the elongated grains were formed in the axis direction.