The present invention generally relates to vacuum pressure swing adsorption (VPSA) processes and apparatus to recover carbon dioxide having a purity of approximately ≧90 mole % from streams containing at least carbon dioxide and hydrogen (e.g., syngas). The feed to the CO2 VPSA unit can be at super ambient pressure. The CO2 VPSA unit produces three streams, a H2-enriched stream, a H2-depleted stream and a CO2 product stream. When the CO2 VPSA unit is installed between an SMR/shift reactor and a H2 PSA unit, hydrogen recovery is expected to be increased by extracting CO2, thereby increasing hydrogen partial pressure in the H2 PSA feed. The stream from the CO2 VPSA unit, normally used as fuel, is recycled as feed to increase CO2 recovery. The recovered CO2 can be further upgraded, sequestered or used in applications such as enhanced oil recovery (EOR).