Abstract: We have analyzed pion-nucleon scattering using the manifestly relativistic covariant framework of infrared regularization up to O(q(3)) in the chiral expansion, where q is a generic small momentum. We describe the low-energy phase shifts with a similar quality as previously achieved with heavy baryon chiral perturbation theory, root s less than or similar to 1.14 GeV. New values are provided for the O(q(2)) and O(q(3)) low-energy constants, which are compared with previous determinations. This is also the case for the scattering lengths and volumes. Finally, we have unitarized the previous amplitudes and as a result the energy range where data are reproduced increases significantly.