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A finite-difference based continuum numerical model is developed for the pile-soil dynamic response during pile driving. The model is capable of simulating the wave propagation analysis along the pile shaft and through the soil media. The pile-soil media, loading and boundary conditions are such that axisymmetric assumption seems to be an optimized choice to substantially reduce the analysis time and effort. The hydrostatic effect of water is also considered on the effective stresses throughout the soil media and at the pilesoil interface. The developed model is used for signal matching analysis of a well-documented driven pile. The results showed very good agreement with field measurements. It is found that the effect of radiation damping significantly changes the pile-soil stiffness due to the hammer blow. The pile tip response shows substantial increase in soil stiffness below and around the pile tip due to driving efforts.