In this paper, the dispersion properties of elastic waves in helical waveguides are investigated. The formulation is based on the Scaled Boundary Finite Element method (SBEFM). With a set of orthogonal unit basis introduced as the contravariant basis, the helical coordinate is firstly considered, where components of tensor retain the dimension of original quantity. Based on the strain-displacement relation, the eigenvalue matrix is obtained about wavenumbers and frequencies. The cross section of the waveguides is discretized by using high-order spectral elements. Moreover, the formulated linear matrix is utilized to design efficient and accurate algorithms to compute the eigenvalues of helical waveguides. Compared with the Pochhammer-Chree curves, the convergence and accuracy of the SBFEM are discussed. Finally, we give some dispersion curves for a wide range of lay angles and analyze in detail properties of cut-off frequency, mode separation and mode transition for elastic wave propagation in the helical waveguides. (C) 2013 Elsevier Ltd. All rights reserved.