A pedalling method and device for a user in standing position. The device includes a drive shaft whereof the rotation about its axis is coupled with the rotation of two right and left pedals. The pedals are mutually assembled via a plurality of cranks, connecting rods, and pivots such that: the pedals can travel freely along a circular path, for a constant rotational speed of the shaft, the speeds of the pedals are recurrent at equal time intervals but out of phase, minimal at lower dead center, maximal at upper dead center, and when the pedals are simultaneously at a common height lower than that of the center of the trajectory, the speeds of the pedals are equal. The vertical oscillation of the center of gravity of a user in standing position is reduced compared to a conventional pedal assembly.