The paper presents the methodology for designing the teeth conjunction of planetary gears in the planetary roller screw mechanism. A function of the planetary gears is to synchronize an operation of rollers in order to avoid axial displacements. A condition of the correct operation is no axial movement of rollers in relation to the nut. The planetary gears are integral parts of rollers and therefore an operation of the gear transmissions has a direct impact on cooperation of the screw, rollers and the nut. The proper design of gear engagements is essential for reducing slippage on surfaces of the cooperating threaded elements. For this purpose, in a designing method, both the limitations of operation and kinematic conditions of rollers’ operation have to be taken into account.