In this letter, a nonlinear semi-analytical model (NSAM) for simulation of few-mode fiber transmission is proposed. The NSAM considers the mode mixing arising from the Kerr effect and waveguide imperfections. An analytical explanation of the model is presented, as well as simulation results for the transmission over a two mode fiber (TMF) of 112 Gb/s using coherently detected polarization multiplexed quadrature phase-shift-keying modulation. The simulations show that by transmitting over only one of the two modes on TMFs, long-haul transmission can be realized without increase of receiver complexity. For a 6000-km transmission link, a small modal dispersion penalty is observed in the linear domain, while a significant increase of the nonlin...