A pedal holding device includes: a four-bar linkage including four links and four joints that connect the four links. Two of the four joints serve as two fixed joints that are provided in a main body of the pedal holding device. One of the four links, which is not connected to the two fixed joints, serves as an intermediate link that is provided with a pedal, such that the pedal is not pivotable relative to the intermediate link. One of four internal angles each defined by corresponding adjacent two of the four links becomes not smaller than 180° at at least one moment in a period of movement of the pedal from its rearward end position to its forward end position. Non-adjacent two of the four links intersect with each other apparently when the pedal is positioned in one of the forward end position and the rearward end position.