Groove rollers, which are for use with a roll grooving device for forming a groove in an outer surface of a pipe near an end of the pipe, include an outside roller and an inside roller. The outside roller has a peripheral surface that includes a first protrusion configured to form the groove, and a second protrusion having a surface configured to inhibit flaring of the end of the pipe when forming the groove. The inside roller has a peripheral surface that includes a notch configured to receive the first protrusion, and may have a second notch configured to receive the second protrusion. A pipe abutment surface against which the end of the pipe is positioned when forming the groove is formed on one of the inside or outside rollers. In another feature, the outside roller includes a first aligning element and the inside roller includes a second aligning element configured to interact with the first aligning element to align the outside and inside rollers when forming the groove.