Abstract: This paper presents an approach for dynamic analysis of coupled monorail train-bridge system in time domain. The bridge is represented by the conventional finite elements while the monorail train is idealized as a combination of a number of rigid bodies connected by a series of springs and dampers which can easily take into consideration the effect of lateral and vertical surface roughness at driving, steering, and stabilizing wheels. The governing equation of motion for the monorail train-bridge is formed on the basis of the bridge dynamic equation and assembled by the adoption of fully computerized approach. Direct integration method is used to solve the equation. A case study of a 3×30 m double-line continuous track beam is analysed. Effects of driving speed and different conditions on the coupled system as well as impact coefficient are discussed. The results demonstrate that the proposed framework can efficiently predict the dynamic response of coupled monorail train and bridge system and the train can safely and comfortably go through the double-line continuous track beam in the design speed.