To　take　into　account　the　frequency　dependency　of　foundation　impedance　and　avoid　repeated　Fourier　transform,　a　time-domain　difference　approach　for　calculating　the　ground　resisting　forces　was　introduced　by　the　authors.　The　software　programs　of　structure　history　analysis　were　re-developed　based　on　general　FEM　software,　and　the　dynamic　history　analysis　module　of　considering　the　soil-structure　interaction　effect　was　included.　Finally,　multilayer　frame　with　circular　foundation　on　the　surface　of　layered　soil　media　is　numerically　analyzed　under　three　dimensions　earthquake　excitation.　Numerical　results　demonstrate　that　the　proposed　approach　can　reflect　the　property　of　foundation　impedance　which　varies　with　frequency　in　soil-structure　system.