The establishment of flexible soil model is a key process of soil-wheel interactions, which is a kind of rigid-flexible coupling multi-body system. A modal neutral file for ADAMS was created in ABAQUS by meshing the stem, defining the physical and mechanical parameters. The model of soil bin which was created in SimDesigner and the modal neutral file of lunar soil were imported into ADAMS, to form a simulation system of soil-wheel interactions. The errors of simulation to experiment were about 20%. It showed that the flexible lunar soil model still need modify, and then the model could be used in the research of soil-wheel interactions.