In this paper, a 2DOF parallel proprioceptive mechanism for vehicle driving simulator with 3-leg is proposed. The proposed mechanism, which can realize pitch, roll and vibration motion of vehicle driving simulator, includes the bottom fixed platform, two servo electrical cylinder, one supporting pillar, the top platform and some joints. The kinematic characteristics of the 2DOF are analyzed and some analytic formulae are derived for solving inverse displacement and forward displacement. The analytic results are verified by its simulation mechanism to be consistent with the calculated ones. The proposed mechanism has very simple structure and low development cost, and is easy to regulate position and attitude of vehicle driving simulator.