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In this research, off-road vehicle simulation is performed with tire-soil interaction model. The predictive semi-analytical model, which is originally developed for tire-snow interaction model by Lee [4], is applied as a tire-soil interaction model and is implemented to MSC/ADAMS, commercial multi-body dynamic software. It is applied to simulate the handling maneuver of military vehicle HMMWV. Two cases are simulated with Michigan sandy loam soil property. Each case has two maneuvers, straight-line brake and step steer (J-turn). First, tire-soil interaction model and conventional on-road tire model are simulated on the flat road of the same frictional coefficient. The proposed tire-soil interaction model provided larger force under the same slip. Second, the same maneuvers are performed with real off-road frictional coefficient. The proposed tire-soil model can be validated and the behavior of the off-road vehicle can be identified through two simulation cases.