A 4-UPS-RPS spatial 5-DOF parallel mechanism, which could achieve three rotational DOF and two translational DOF, was introduced, and its kinematics analysis was carried out. 4-UPS-RPS parallel mechanism included five limbs, where four limbs were types of universal joint-prismatical joint-spherical joint, and the other was type of revolution-prismatical joint-spherical joint. The reverse solution of position analysis for the parallel mechanism was presented. On this basis, the Jacobian matrix and acceleration equation were derived, and the inverse position, velocity and acceleration of this parallel mechanism were obtained. Then the virtual simulation of mechanism kinematics was implemented by using ADAMS software. The simulation results showed that the numerical calculation results were correct. The research could provide a theoretical basis to promote application of 4-UPS-RPS parallel mechanism. 