This paper presents a new technology named heated-mandrel winding, in which the composite is cured simultaneously while the fiber soaked with resin continuously winds onto a mandrel heated by steam. The thermochemical, cure kinetic, and strain models during the heated-mandrel winding process are established and a numerical simulation program is developed by APDL. The influence of the heating rate, winding speed, and film coefficient on the temperature, curing degree, and strain is researched and analyzed. The effectiveness of the algorithm adopted and the validity of the analytical model and method in this study are experimentally testified. This research provides a theoretical basis and analytical method for the design and parameter optimization of the heated-mandrel winding process.