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Dynamic modelling of the contact between the tires of automobiles and the road surface is crucial for accurate and effective vehicle dynamic simulation and the development of various driving controllers. Furthermore, an accurate prediction of the rolling resistance is needed for powertrain controllers and controllers designed to reduce fuel consumption and engine emissions. Existing models of tires include physics-based analytical models, finite element based models, black box models, and data driven empirical models. The main issue with these approaches is that none of these models offer the balance between accuracy of simulation and computational cost that is required for the model-based development cycle. To address this issue, we present a volumetric approach to model the forces/moments between the tire and the road for vehicle dynamic simulations.