In a method for filling a predefined cylindrical container, a closed filling valve is moved with its filling tip through the container opening into the container. A gas contained in the container is displaced or compressed in the container. The container opening is sealed about the filling valve; the point in time of sealing determines a pressure in the container. The container is filled by opening the filling valve to allow fluid flow. The end face of the filling valve is below a fluid level in a radial gap volume between container wall and filling valve. Upward movement of the filling valve is adjusted according to predefined control parameters; filling occurs below fluid level in that the fluid level is above the end face of the filling valve. The filing valve is closed upon reaching the predefined filling volume. The closed filling valve is removed from the container.