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A full tracked vehicle model is developed with the objective of providing new capabilities in modeling track and suspension system dynamic response. This capability is essential for predicting the durability of the track as well as the vibration transmission to the interior of the vehicle. In this model, the track is represented as a continuous elastic member with longitudinal (stretching) and transverse track response described using low-order vibration modes. This modeling approach captures dynamic effects with few degrees of freedom relative to established multi-body dynamic formulations. Using this method, a full vehicle model involving relatively few degrees of freedom is assembled for an example military tank. A mixed Eulerian/Lagrangian description is employed wherein the rigid-body elements of the hull and suspension are coupled to component modes of the track spans.