CRDM stepping loads act on the parts of CRDM during stepping motions. In this study the CPR1000 CRDM stepping loads are calculated through kinematics analysis and Adams dynamic simulation. The stepping loads of latch, pin, and coupling are got. Conclusions show that the method is an effective method to calculate CRDM stepping loads and the results are consistent with engineering experience. At the same time comparison and analysis of the impact of hydraulic camping force on insertion motion are studied.