The NSW ICAC will hold an inquiry into two former Roads and Maritime Services employees accused of taking kickbacks from $41m worth of RMS contracts.

Alexandre Dubois and Craig Steyn are alleged to have engaged in the behaviour for ten years leading up to June 2019.

The men allegedly dishonestly or partially exercised their official functions by awarding more $41 million in RMS contracts to companies they were associated with in exchange for receiving benefits.

ICAC Chief Commissioner Peter Hall QC will preside at the public inquiry which will begin on May 10 and run for six weeks.

Counsel Assisting the Commission will be Jason Downing SC and Caroline Spruce.

A witness list for the first week of the inquiry will be published closer to the opening of proceedings.

The ICAC will live stream proceedings.