A new mechanism of ion cyclotron range of frequency (ICRF)-induced rotation is proposed to explain the toroidal rotation with minority ICRF heating without net momentum injection. For ICRF waves launched with the symmetric spectrum, a nonlinear toroidal force can be generated through the asymmetric absorption of the toroidal wave momentum, which is due to the finite toroidal rotation of minority ions. This ICRF-induced toroidal force can drive a significant toroidal rotation of bulk ions.