A torsional vibration damper includes an input part for introducing a torque, two intermediate elements, an energy storage element designed as a compression spring that acts on the intermediate elements, an output part for discharging a vibration-damped torque, and an elastic or resilient compensation part provided between the output part and the intermediate elements. The intermediate elements are designed as pendulum rockers and are movement-coupled to the input part. Each of the intermediate elements can move towards and away from the other in a linear motion. The output part is movement-coupled to the intermediate elements and rotatable relative to the intermediate elements. The compensation part is for eliminating play of the intermediate elements relative to the output part in an axial direction.