Diversification and intensification of cropping systems can ensure farm profitability while reducing negative environmental impacts of agriculture. Wheat-soybean relay cropping (RC), which consists in planting soybean into standing wheat prior to its harvest, may have this potential although it is poorly adopted by French and European farmers. One of the reasons underlying this lack of adoption could be poor emergence rates and biomass production of soybean, due to a severe competition from the already established primary crop for water, light and nutrients during the co-growth or intercrop phase. All these constraints during the early plant growth could finally affect soybean grain yield and thus farm profitability. Here, we performed a laboratory experiment followed by a 2-year field trial (2021-2022) to investigate potential differences among seven soybean cultivars belonging to different maturity groups (from very early to late) in terms of early growth traits viz. seed germination, seedling emergence vigor and final rates, and early biomass production in wheat-soybean RC. A reference soybean variety belonging to late maturity group (cv. ES Pallador) was also sown under conventional cropping system as control treatment (hereafter referred to as CC). Under laboratory conditions, the base water potential for germination ranged from-0.65 to-0.45 MPa with significant differences (p<0.001) among the tested cultivars indicating their differential tolerance to water stress. Under field conditions, seedling emergence vigor, an index explaining the speed of emergence, ranged from 0.23 to 0.41 and from 0.24 to 0.33 while final emergence rates ranged from 69% to 93% and from 65 to 90% in 2021 and 2022, respectively. We found significant effect of cultivar, year and cultivar x year interaction on emergence vigor (p<0.001) and final emergence rates (p<0.01, p<0.05 and p<0.01, respectively) of soybean cultivars. Significantly higher emergence vigor of the referent cv. ES Pallador was observed in RC compared to CC cropping system in 2021 (0.40 and 0.34, respectively) but not in 2022 (0.29 and 0.31, respectively). Water stress in the seedbed was higher in RC compared to the CC and was the main cause affecting seed germination and seedling emergence vigor especially in 2022. We found a positive correlation between seedling emergence vigor and seedling final emergence rates indicating that a lower speed of seedling emergence, due to seedbed stress factors, affects final emergence rates of soybean. Post-emergence losses due to pigeons were significantly higher (p<0.001) in CC compared to RC (30% and 2% in 2021, and 29% and 2% in 2022 in CC and