A gear system wherein a harmonic drive or strain wave gearing set is efficiently and effectively coupled to a worm drive, where the harmonic drive or strain wave gearing serves as the input and the worm drive serves as the output. By using the harmonic drive or strain wave gearing set as the primary, a very large reduction ratio is achieved in a right angle package with high torsional stiffness. Further, at high worm ratios, the system can be non-back driving. At low ratios, worm gearing can be highly efficient. This, combined with the harmonic drive or strain wave gearing set being used as the primary, provides a high ratio, highly efficient gear system.