Much research have been carried out to synthesize linkages, yet a few is concentrated on the dynamic behavior of six bar linkages in the early stages of the design process. Therefore, we present a two-step synthesis method for function generator six-bar linkages that includes constraints related to the dynamic behavior of the mechanism. The first stage focuses on matching eight given precision positions and the second stage on minimizing the reaction forces. Both minimization problems are solved with a genetic algorithm in MATLAB™. The results are compared with a multi-body simulation in MSC ADAMS™.