On the basis of characteristic analysis for the single point incremental forming (SPIF), the problems of current study of tool-path generation for SPIF process were proposed. Based on the proposed method, a new tool-path generation method for SPIF, and the suitable Z-constant toolpath generation were presented. This method was used in the specific process planning software AFS2, and was applied to the SPIF equipment developed by the Japanese Amino Corporation, and an excellent surface quality was gained in a forming practice. Finite element analysis and application results indicate that the proposed method is feasible to meet practical needs.