A reciprocating pedal transmission for a pedal-powered vehicle. Two pedals are selectively connected to a driveshaft by one way clutches. A reversing gear mechanism forces the non-pushing pedal to travel in a direction which is opposite to the direction of the pushing pedal. The non-pushing pedal may also be used to input force (a pulling force) if desired. The arcuate range of motion is infinitely variable. The user may reverse the pedal travel at any time using only the forces applied by the feet.