Constant velocity joints in automobiles have been used as important parts that transmit torque from a transmission to wheel. They are classified as plunge type and fixed type joints. The plunge type joints have two important phenomena called the GAF(Generated Axial Force) and the PR(Plunging Resistance) derived from axial force to cause NVH(Noise Vibration Harshness) problems of an automobile. Especially the PR is known as the basic cause of an idle booming phenomenon which generates automobile body vibrations and noise in a stopped automatic transmission vehicle with “D”(Drive) mode, which make worse the riding comfort of an automobile. Therefore many manufacturers producing constant velocity joints have researched the way to reduce the PR of their products. In this paper, the dynamic model including the kinematic, contact and friction model is used to simulate the PR of Cross Groove Joint(CGJ). The multi-body dynamic analysis of CGJ is conducted by using MSC.ADAMS. Consequently the developed dynamic model of CGJ is able to predict properly the PR and will be used to study design parameters.