Tires are the only carrier of the contact between the vehicle and road surface. Their mechanical property is important for analysis and control on the vehicle dynamic response. At present, the tire simulation mostly focuses on the steadystate model. But it can not describe the dynamic characteristic of the tire accurately. Therefore, it plays a significant role to add the dynamic tire model in the vehicle dynamics simulation. The tire friction model in the multibody dynamical software ADAMS is static, where the friction is regarded as a static value. However, in actual, the friction between the tire and road surface is dynamic, and it should be a dynamic function of the relative velocity and displacement. To this end, in this paper, the dynamic tire LuGre model using the Matlab/Simulink software is constructed. Through connecting the interface with Adams/Car, cosimulation between the vehicle model and the simulink tire model is carried out in order to achieve the dynamic contact between tire and road and improve the accuracy of vehicle system analysis.