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A method for simulating three-dimensional steady-state deformation in shape rolling with grooved rolls by the rigid-plastic finite element method is proposed. For the three-dimensional element mesh, contact of the nodal points with the roll surface and detachment from the surface are judged in each step of calculation. The boundary conditions of metal flow along the curved roll surface and of friction between the roll and the workpiece are dealt with at each node over the interface. Complex steady-state deformation in shape rolling is simulated by using the non-steady-state scheme and the remeshing technique. As examples of simulation, rolling processes of bars and beams with grooved rolls are chosen. The deforming shape, the rolling torque, the roll separating force, and the distributions of stress and strain in the workpiece are computed.