A constant velocity joint has an outer part, an inner part, and a full cage that is accommodated in a self-holding manner between these parts. The cage is formed with windows for holding balls inside races on the outer part and on the inner part. The cage is guided around a common center of curvature via spherical outer surfaces on the outer part and via spherical inner surfaces on the inner part. During assembly, the outer part and the cage can be slid inside one another in the direction of their component axes. This permits a particularly compact design of constant velocity joints with Stuber offset. Special openings on the outer part enable the balls to be inserted when the inner part is already connected to a shaft.