AUV (Autonomous Underwater Vehicle) recovery is considerably influenced by the nearby flow field and simulations of AUV in different motion paths in the wake of a submarine with a propeller are presented in this paper. A commercial CFD solver STAR CCM+ has been used to research the motion and flow characteristics of AUV, which using the advanced computational continuum mechanics algorithms. The DARPA (Defense Advanced Research Projects Agency) SUBOFF Submarine (L1 = 4.356m) propelled with INSEAN (Italian Ship Model Basin) E1619 propeller is used in this study, and the self-propulsion characteristics of the propeller at an incoming flow velocity of 2.75m/s are obtained through numerical simulation and results are compared with the available experimental data to prove the accuracy of the chosen investigation methodology. A grid/time-step convergence test is performed for verification study. AUV (L2 = 0.4356m) is a smaller-scale SUBOFF without a sail, which approaches the submarine in different motion paths in the submarine wake at a relative speed combined with the dynamic overlapping grid technology. The hydrodynamic performance of the AUV when approaching the submarine and the velocity distribution of the surrounding flow field are analyzed, which provides a useful reference for underwater recovery of the AUV.