An exercise apparatus is disclosed herein, including a frame, a rotating assembly, two supporting rods, two swing arms, two links, and two pedals. The front ends of the supporting rods are connected respectively to two pivotal ends of the rotating assembly, and the rear end of each supporting rods moves back and forth along a corresponding track. The front ends of the links are connected respectively at two swing ends of the swing arms. Each pedal has a step surface and is coupled to the rear portion of the corresponding link. The distance between the bottom of a circular path of the pivotal ends and the tracks is smaller than 10 cm. The length of the supporting rod is smaller than two times diameter of the circular path. The longitudinal horizontal distance between the front edge of the closed path and the rear edge of the circular path is smaller than 20 cm. The rear ends of the supporting rods are located between the front ends and rear ends of the pedals. In an embodiment, a highest point of the step surface of the pedal has a step height relative to the track and the step height is less than 20 cm.