This thesis presents the development of a multibody model of a four-wheel-independent drive (4WID) prototype vehicle that employs differential steering as its sole steering mechanism. Dynamic modeling and control design have been integrated within a single environment, MATLAB/Simulink, using the Simscape Multibody library and its capability to import CAD models. A tire–ground contact model requiring few parameters has been developed for non standard tires, due to their specific dimensions and construction. The model is derived from a revised Dugoff formulation presented in an SAE technical paper and has been extended to account for the self-aligning moment. Additional work has been done to integrate it into a multibody simulation, including the computation of the vertical force, the static–dynamic transition, frame-of-reference consistency, and numerical refinements to improve stability.