This paper presents a coupled FEM-BEM strategy for the numerical analysis of elastodynamic problems where infinite-domain models and complex heterogeneous media are involved, rendering a configuration in which neither the Finite Element Method (FEM) nor the Boundary Element Method (BEM) is most appropriate for the numerical analysis. In this case, the coupling of these methodologies is recommended, allowing exploring their respective advantages. Here, frequency domain analyses are focused and an iterative FEM-BEM coupling technique is considered. In this iterative coupling, each sub-domain of the model is solved separately, and the variables at the common interfaces are iteratively updated, until convergence is achieved. A relaxation parameter is introduced into the coupling algorithm and an expression for its optimal value is deduced. The iterative FEM-BEM coupling technique allows independent discretizations to be efficiently employed for both finite and boundary element methods, without any requirement of matching nodes at the common interfaces. In addition, it leads to smaller and better-conditioned systems of equations (different solvers, suitable for each sub-domain, may be employed), which do not need to be treated (inverted, triangularized etc.) at each iterative step, providing an accurate and efficient methodology.