The dynamic simulation of vehicles is a very helpful procedure for vehicle assessment. For this reason the numerical simulation of vehicles has been used in IABG for more than 20 years. Because there was no wheel model for soft soils which fits the demand of simulation tools like Adams, Dads or NUSTAR all this simulation work was done for hard surfaces only. In order to have enough simulation work for the assessment in a reasonable time the computation time for the wheel model should be small. Because finite-element-models are far too slow for this purpose, a relatively simple analytical wheel model was developed and used with the simulation tool NUSTAR. Although this wheel model was only tested with NUSTAR, it is also suitable for other simulation tools. The described wheel model for soft soils computes the axle height above the surface as a function of normal load. This axle height is dependent on tyre deflection and wheel sinkage. Because of the connection between tyre deflection and wheel sinkage (contact area) there is a demand for one iteration loop in the wheel model, but this loop is very fast. This wheel model also computes all important values like traction, slip, rolling resistance, lateral force and the moments on the wheel in three directions. The soil parameters are mainly the parameters of Bekker, additional parameters describe for example the reduction of sinkage for higher speeds. For the tyre, the deflection of tyre as a function of tyre load has to be entered. This way, the influence of a CTIS can be also taken into account. The model was verified on sandy loam with a single wheel tester. There is a NUSTAR-model for this single wheel tester using the new wheel model for soft soil. In addition to the wheel model both the single wheel tester and results from this NUSTAR-model will be shown in this paper. The comparison between measurement and calculation is satisfying.