This paper presents a two-step commutation scheme under zero voltage switching (ZVS) for all bidirectional switches of the three-phase isolated bidirectional matrix converter. In addition, by adjusting the timing of the transition from zero-vector to active-vector, the voltage spike and ringing on the dc to ac boost H-bridge side can be reduced. The performance of the proposed commutation scheme with ZVS operation is evaluated and verified by simulations and experiments on a 5kW prototype.