Cylindrical cavity exhibits non-self-similarity during contraction process following expansion. Previous studies solve this problem with total strain approach and simple constitutive models, but the approach is not applicable when using an advanced constitutive model. This paper presents a semi-analytical solution for a cylindrical cavity undergoing expansion-contraction in undrained soils with auxiliary variable approach, incorporating the Modified Cam-Clay (MCC) model. The stress states around the cavity are formed by the superposition of initial and superimposed stress states. By treating superimposed effective stresses as self-similar, a semi-analytical solution is derived for solving the cavity expansion-contraction problem. The elastoplastic stress-strain relationship is formulated as a set of first-order differential equations, which can be solved as an initial value problem though Runge-Kutta (RK) method. Then the stress distribution around the cavity during expansion-contraction process can be determined. To validate the proposed approach, a series of well-conduced self-boring pressuremeter (SBP) tests are used to verify the proposed approach, which shows good agreements. Additionally, a FEM simulation incorporating the MCC model is performed, and the simulation results are presented to carry out parametric studies on soil parameters. A significant influence on the range of the plastic and reverse plastic zones is shown for overconsolidation ratio, while the in-situ coefficient of the earth pressure only quantitatively affects the stress distribution.