Freeform surfaces play important roles in improving the imaging performance of off-axis optical systems. However, for some systems with high requirements in specifications, the structure of the freeform surfaces could be very complicated and the number of freeform surfaces could be large. That brings challenges in fabrication and increases the cost. Therefore, to achieve a good initial system with minimum aberrations and reasonable structure before implementing freeform surfaces is essential for optical designers. The already existing initial system design methods are limited to certain types of systems. A universal tool or method to achieve a good initial system efficiently is very important. In this paper, based on the Nodal aberration theory and the system design method using Gaussian Brackets, the initial system design method is extended from rotationally symmetric systems to general non-rotationally symmetric systems. The design steps are introduced and on this basis, two off-axis three-mirror systems are pre-designed using spherical shape surfaces. The primary aberrations are minimized using the nonlinear least-squares solver. This work provides insight and guidance for initial system design of off-axis mirror systems.