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We have numerically analyzed soft-aperture Kerr-lens mode locking in Ti:sapphire laser cavities. The intensity-dependent Kerr-lens effect was simulated by using nonlinear ABCD matrices, and the power-dependent Gaussian beam mode was calculated for typical linear x-folded laser cavities used for soft-aperture Kerr-lens mode locking. The Kerr-lens effect was found to depend strongly on cavity parameters such as the separation of the two curved mirrors, the crystal position, and the lengths of cavity arms. Based on the numerical analysis, we derived the optimal cavity condition for soft-aperture Kerr-lens mode locking, and we then experimentally demonstrated a Kerr-lens mode-locked Ti:sapphire laser.