This study deals with the vehicle dynamics of leaning tricycle. This vehicle has a camber angle on the turning inner side while turning like a motorcycle. In this research, first, the equation of motion of a tricycle with parallel links for front wheels is constructed. In this equation of motion, the four degrees of freedom of the lateral direction, the yaw direction, the roll direction, and the steering angle are taken into consideration. Using the equation, eigenvalue analysis was performed and the weave mode, wobble mode and capsize mode were reproduced such as motorcycles.