THz waves have been intensively applied in many fields, e.g., spectroscopy, imaging, and communications. However, owing to the rarity of available techniques for manipulating circularly polarized few-cycle THz waves on picosecond time scales, most of the current studies are conducted with linearly polarized THz waves. Here we demonstrate circularly polarized (CP) THz (dual) pulses generated by a polarization-twisting pulse/dual pulse (PTP/PTDP). The polarization-twisting optical dual pulses can be generated via a modified Michelson interferometer (MI) system, which provides the ability to control the frequency, helicity, and time interval of the dual pulses arbitrarily and individually. Such a novel, to the best of our knowledge, modulation technique shows huge potential for applications, not only in imaging and spectroscopy but also in next-generation communications.