In this paper, by using the continuation theorem of coincidence degree theory and some analysis methods, we study the existence and uniqueness of periodic solutions for prescribed mean curvature Rayleigh $p-$Laplacian equation \begin{displaymath} \left(\varphi_{p}\left(\frac{x'(t)}{\sqrt{1+(x'(t))^{2}}}\right)\right)'+f(x'(t))+g(x(t-\tau (t)))=e(t). \end{displaymath} Some new results are obtained. Furthermore, a numerical example demonstrates the validity of the main results.
