A method of reinforcing an embedded cylinder pipe by applying a composite structural reinforcement within the pipe through in situ stratification of at least one band of reinforcement fibers and a resin or a resin including matrix comprising the steps of applying said band onto a contact area on an internal face of said pipe by means of a contacting member; moving said contacting member along an helical path so that said contact area follows said path; moving a main pressing member behind said contacting member along said path, to apply pressure to said band in a main pressure area separated from said contact area. Related device for reinforcing an embedded cylinder pipe by applying a composite structural reinforcement within the pipe.