This paper presents a comparative study to determine the performance of FFT, Enveloping and cepstrum incipient bearing fault detection techniques using vibration signal. Different fault scenarios are executed in an experimental test bench from incipient to severe conditions in order to evaluate each technique. Additionally, vibration information given by Case Western Reserve University (CWRU) website is also used to evaluate both techniques. FFT, Enveloping and cepstrum techniques are implemented in Matlab® environment to detect each fault condition. Enveloping and cepstrum provide satisfactory results in fault detection. Therefore, they can be suitable candidates to be used in a rotative machine condition monitoring system.