An improved exercise device includes pedals configured to move in counter-rotating circles in a plane inclined toward the horizontal from the vertical at an angle greater than 0° and less than or equal to 90°. The device includes a supporting frame, a pedal mounting assembly attached to the supporting frame at an angle from the vertical, two pedal supports attached to the pedal mounting assembly, each via a pedal crank assembly, at an angle to the vertical, and two pedals, one pedal supported by each pedal support.