Based on kinetic characteristics of vehicle-track system, new types of vehicle and track elements for solving this problem are presented. Stiffness matrix, mass matrix and damping matrix for these two elements are deduced by means of finite element method and Lagrange equation. The integral vehicle-track system can only be discreted to vehicle elements and track elements in which the track system is associated with track elements and a car is a vehicle element. This model has advantages of easy to programming and high efficiency to computing. As application examples, two computations, i.e., analyses of dynamic response of vehicle and track for passage of single wheel and a car are given. In the second example, the track vertical profile is assumed as pure smooth and random irregularity respectively.