<p>This study aimed to identify and compensate for the geometric errors of the double swiveling axes in a five-axis computer numerical control (CNC) machining center. Hence, a three-dimensional coordinate calculation algorithm for a measured point with additional rotational rigid body motion constraints is proposed. The motion constraints of the rotational rigid body were analyzed, and a mathematical model of the measured point algorithm in the swiveling axes was established. The Levenberg-Marquard method was used to solve the nonlinear superstatically determined equations. The spatial coordinate error was used to separate the spatial deviation of the measured point. An identification model of the position-independent and position-dependent geometric errors was established. The three-dimensional coordinate-solving algorithm of the measured point in the swiveling axis and geometric error identification method based on the Monte Carlo method were analyzed numerically. Geometric error measurement and cutting experiments were performed on a VMC25100U five-axis machining center, which integrated two swiveling axes. Geometric errors of the <i>A-</i> and <i>B</i>-axes were identified and measured experimentally. The angular positioning errors before and after compensation were measured using a laser interferometer, which verified the effectiveness of the proposed algorithm. A cutting experiment of a round table part was performed. The shape and position accuracy of the processed part before and after compensation were detected using a coordinate measuring machine. It verified that the geometric error of the swiveling axis was effectively compensated by the algorithm proposed herein.</p>