A wave gear apparatus comprises a spline having top, bottom, exterior, and interior surfaces. A plurality of spline teeth extend from the interior surface toward a center axis. A wave generator is rotatably disposed in the spline. A belt assembly extends about the wave generator and includes a plurality of belt teeth extending radially outwardly, whereby a total number of the belt teeth is less than a total number of the spline teeth. An output member defines a recess receiving the wave generator and the belt whereby, in response to a rotational movement from the wave generator, the output member rotates in a direction same or opposite of the wave generator. A bearing assembly is disposed between the wave generator and the belt assembly and includes a plurality of needles each extending parallel to the center axis. A vehicle lifting system including the wave gear apparatus is also disclosed herein.