A device for selection and engagement of the gears of a gearbox for motor vehicles has a control shaft mounted rotatable and axially movable with respect to the casing. Mounted on the shaft is a hub having an engagement finger for controlling gear engagement devices, which is configured to oscillate in the space between two fingers of a selection mask, which is mounted on the shaft axially movable therewith and is guided with respect to the casing so as not to follow rotation of the shaft and the hub when a gear is engaged. During displacement of the engagement finger towards an extreme position preliminary to the engagement of the reverse gear, the selection mask is forced to move temporarily into a rotated position, wherein it actuates one or more of the selector devices of the forward gears to enable silent engagement of the reverse gear.