An analytical tire model of freely-rolling properties is established by using experimental modal parameters. Based on force balance, rolling kinetics and road constrain conditions, the algorithms concerning deformation and force distribution within contact patch are derived, and structural damping is introduced in order to calculate rolling resistance under quasi-static state ( approximate to zero speed ). The derived model can describe the change process of vertical load and friction force distributions from static state to rolling state. Rolling resistance, effective rolling radius, slip ratio, and vertical stiffness of a freely-rolling tire are also calculated. The results are well consistent with literature. The rolling mechanism of tires is revealed and it is the basis for modeling of enveloping and cornering properties. The feasibility and advantages of tire modeling by using experimental modal parameters are reflected.