Abstract. The India-based Neutrino Observatory (INO) collaboration is proposing to build a 50 kton magnetized iron calorimeter (ICAL) detector in an underground laboratory to be located in South India. As a first step towards building the ICAL detector, a 35 ton prototype of the same design has been set up on the surface to track cosmic ray muons. This paper discusses the prototype detector geometry simulation by GEANT4, and the detector response to the cosmic muons. We have developed a track fitting procedure based on the Kalman Filter technique for the prototype detector when the detector is exposed to single muon tracks. The relevant track parameters i.e., momentum, direction and charge are reconstructed and analyzed. Finally we show the resolution of reconstructed momenta.