In the automotive industry, vehicle simulation has become an invaluable tool to help reduce the time and cost associated with new product development. Significant progress has been made in the correlation of virtual models with physical test data, leading to improved evaluation methods. However, the implementation of this technology for passenger car applications in off-road conditions hasn’t been as extensively explored in literature. This has largely been due to the complexity of modelling tire-soil interactions on deformable terrain. By its nature, modelling tire-road contact poses a challenge, even on a rigid surface. Accurately modelling this contact on a surface that deforms and exhibits complex nonlinear behaviour like the tire furthers the challenge, both mathematically and computationally.