The worm gear is used in the motor drive system of automotive CVVL because of its compactness and self-locking ability. A ZK worm and an involute helical gear can be meshed in order to reduce production cost. However, the gearing is not suitable for the reliability and the NVH problem. To improve the dynamic performances, an optimal design process is considered. The transmission error is calculated theoretically and minimized with the several gear design parameters. An inequality condition such as the teeth interference elimination is added.