In this paper, the both-sides lapping in eccentric rotation is proposed to fine-finish the cylindrical surface of a batch of bearing rollers. The geometry and kinematics of the workpiece are theoretically analyzed, the trajectory on the cylindrical surface is simulated, and the trajectory distribution is evaluated quantitatively by calculating the standard deviation of trajectory’s density; in addition, a good speed combination is found based on the trajectory analysis. Finally, lapping experiments on AISI 52100 bearing steel cylindrical rollers were carried out, achieving an average roundness of 0.43 μm, with a deviation of 0.13 μm, and a minimum of 0.31 μm for the batch. It is indicated that the use of smaller sized abrasives achieves better roundness in cylindrical lapping. The surface topography was shaped like a regular net, which largely coincides with the simulation results.