To evaluate the occlusion accuracy of a novel impression technique, excessively high occlusion and the occlusal contact area during lateral movements were compared between metal restorations (restorations) and removable partial dentures (RPDs) fabricated using conventional and novel techniques. Both restorations and RPDs were fabricated on the simulation model with the precise displacement of the remaining teeth and soft tissue. For the novel technique, functionally generated path (FGP) recording and impression under occlusal force were simultaneously performed using a custom tray with an FGP table. For the two conventional techniques, definitive casts were mounted on an average value articulator and a semi-adjustable articulator in the typical manner. Prostheses were placed on the simulation models, and excessively high occlusion in the intercuspal position and occlusal contact areas during lateral movements were measured. Statistical analyses were performed using Kruskal-Wallis and Steel-Dwass tests (α = 0.05). For both prostheses, conventional techniques showed significantly higher occlusion in the intercuspal position than the novel technique. Moreover, the new technique demonstrated better guidance contact during lateral movements than conventional techniques. This novel technique can be recommended for the fabrication of highly accurate prostheses with appropriate occlusal contact without corrections at delivery.