Abstract: A method for machining of ball tracks of an inner race of a constant velocity joint includes the step of providing a power skiving tool having a plurality of cutting members and a first axis of rotation and providing a work piece having an outer envelope surface extending along an axis of rotation. The first axis of rotation of the power skiving tool is arranged at a first distance from the axis of rotation of the work piece and oriented at a first angle. A first rotational speed to the power skiving tool and a second rotational speed to the work piece and a relative movement between the work piece and the power skiving tool, is applied such that the cutting members engage the outer envelope surface to machine the ball tracks. A cutting insert and a power skiving cutting tool are also provided.