In this study, a numerical method for soil-pile-structure interaction problems in multi-layered half-plane is developed. The total soil-pile-structure interaction system is divided into two parts namely, nonlinear structure part and linear soil-pile interaction parts. In the structure field, the general finite element method is introduced to solve the dynamic equation of motion for the structure. In the soil-pile structure interaction part, physical model consisting of lumped parameter, which is frequency dependent coefficient and determined by rigorous analysis method is introduced. Using proposed analysis procedure, the nonlinear behavior of structure considering soil-structure interaction can be efficiently determined in time domain and the analysis cost is dramatically reduced.