Consider SE(3)as a submanifold of the Euclidean space E12.At first,the intrinsic and extrinsic geometries of SE(3)are studied.Then the Frenet typed equations for curves in SE(3)are derived.The relationship between the k-th order covariant curvatures of a curve in SE(3)and the parametric equation of its pre-image in se(3)is established.Finally,some kinds of curves in SE(3)with vanish 5-th order covariant curvature are constructed.The behaviours of these curves are exhibited.