Propagation of the temporal soliton in Kerr-type photonic crystal waveguide is investigated theoretically and numerically. An expression describing the evolution of the envelope of the soliton based on the full-wave modal analysis, taking into account all space-harmonics, is rigorously obtained. The nonlinear coefficient is derived, for the first time, based on a modification of the refractive indices for each space-harmonic due to the Kerr-type nonlinearity. For illustrating the general formulation and results, we performed extensive computational electromagnetics simulations for the propagation of gap solitons in an experimentally feasible photonic crystal waveguides, endorsing the correctness and usefulness of the proposed formalism.