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We compare the CO(1-0) and H$α$ kinematics in 34 nearby galaxies, selected from the ALMaQUEST and EDGE-CALIFA surveys. We use 3-D Barolo, a 3D tilted ring model, to derive the CO and H$α$ rotation curves. Before comparing rotation curves in the 34 nearby galaxies, we found systematics between the MaNGA and the CALIFA data using eight MaNGA-CALIFA overlapping galaxies. We assume the rotation curves based on the MaNGA data are accurate and made the corresponding correction to the CALIFA data. Our result shows that $\sim$56% (19/34) of our galaxies present slower H$α$ rotation curves compared to the CO rotation curves, with a median value of 6.5 km/s. The remaining galaxies (15/34) show consistent CO-H$α$ rotation velocity within uncertainties. As a result, the Ha rotation may underestimate the total dynamical mass by ~6% for a circular velocity of 200 km/s (the median value in our sample). Furthermore, the velocity difference between the CO and H$α$ rotation velocity is found to correlate with the velocity dispersion difference between CO and H$α$, suggesting that the gas pressure plays a role in the velocity discrepancy. After incorporating the effect of pressure support due to the turbulent gas motion to our sample, the median value of the velocity differences decreases to 1.9 km/s, which in turn reduces the underestimation of dynamical mass to $\sim$2%. Finally, we also investigate the role that the extra-planar diffuse ionized gas (eDIG) plays in the CO-H$α$ velocity discrepancy.