Abstract: The single pile is simplified to elastic shaft elements suffering skin friction and the soil mass is considered to be homogeneous isotropic elastic semi space. For pile loaded on the head, treating deformation of pile elements, node displacements and node forces of the pile as intermediate variables, displacement equations of soil mass and equilibrium equation of pile-soil contact surface are established based on Mindlin equation and characters of relative slipping between pile and soil. Regarding node displacements as basic unknown quantities, the two sets of equations are combined into a system of equations. When node displacements including settlement of pile head are calculated, internal force of pile, contact surface and displacement of soil, etc., can be calculated. Nonlinear relative slipping between pile and soil and nonlinear settlement of pile base soil are considered. Mechanism of the model is simple and clear. The analytical results agree with the test results well.