Adsorption of carbon monoxide on Pd (210) and (510) stepped surfaces has been investigated by the extended London-Eyring-Polyani-Sato method constructed using a five-parameter Morse potential. Pd (210) and (510) stepped surfaces consist of terrace with (100) structure and step with (110) character. These results show that there exist common characteristics of CO adsorption on these two surfaces. At low coverage, CO adsorbs in twofold bridge site of the (100) terrace. The critical characteristics inherit that of CO molecule adsorbed in twofold bridge site of (100) original surface. When the coverage is increased, the top site of (110) step is occupied. The critical characteristics resemble that of CO molecule adsorbed in top site of (110) original surface. A number of new sites are exposed on the boundary regions, for example, the fivefold hollow site (H) of these two surfaces. There are stable adsorption sites at high coverage. Because of the different length of the (100) terrace, the (210) and (510) stepped surfaces have some different characteristics. First, CO is tilted adsorption on bridge site of terrace of (210), but perpendicular on terrace of (510) surface. Second, the bridge site (B 1 ) where one Pd atom at the top of the step and the other at the bottom of the step is a stable adsorption site on (210), but the same type of site on Pd (510) surface is not.