Computer simulation of the elastic-plastic tube bending by pushing on three-roll machine with work hardening effect consideration is presented. Non-steady tube bending process for specified curvature is simulated with axis of bending roll displacement, followed by transfer to the steady-state bending process. Estimation of curvature, constrained by tube section elliptical distortion modeled by plastic hinge mechanism is given. Elastic-plastic bending moment versus curvature and critical curvature estimation reasonably correlated with experiments.