Contact mechanics and tribology was combined with fundamental fatigue and fracture mechanics to form a new mechanism for surface initiated rolling contact fatigue. Following, fatigue was investigated numerically for single asperities and craters in lubricated rolling contact surfaces. The hypothesis suggests that asperity point contacts can create sufficiently large tensile stresses for fatigue. The investigated case corresponded to a heavily loaded truck gear with ground surfaces. Reynolds equation resolved the elastohydrodynamic effect of the asperity in the transient three dimensional contacts. The Findley critical plane criterion was used for multiaxial and non-proportional fatigue evaluation. The simulations confirmed the new mechanism for rolling contact fatigue and showed how asperities can create contact fatigue in the lubricated contacts even without slip.