An inverted tooth chain and sprocket drive system in which the initial contact distance ICD, the meshing impact angle Sigma (σ), the link plate entrance angle Beta (β), and other aspects of the meshing geometry are controlled and optimized to reduce noise and vibration by using a particular chain link plate form and, in preferred cases, by modifying the sprocket tooth pressure angle. The system can include first and second sprockets for which the pressure angle can be controlled to ensure that the desired values for the initial contact distance ICD, the meshing impact angle Sigma (σ), and the link plate entrance angle Beta (β) are equal for both sprockets even though the sprockets have different tooth counts. For a chain pitch P in the range of 6.35 mm to 7.7 mm, the initial contact distance ICD is controlled such that 0.49P≦ICD≦0.53P, the meshing impact angle Sigma (σ) is controlled such that σ≦34°, and the link plate entrance angle Beta (β) is controlled such that β≦9°. For certain chain and sprocket configurations, σ≦31° and β≦7°.