This study developed a numerical method to establish a comprehensive load-settlement curve for a driven pile. Analysis results shown that the residual forces caused by the driving of the pile can be simulated using the numerical method that proposed herein. The load was applied to the tested piles, while the incremental displacement was subjected to numerical piles. Although these two processes are distinctive, the load-settlement behaviors of various piles calculated numerically are consistent with those measured from field tests. Moreover, the proposed numerical method highlighted the post-peak behavior of a pile. Accordingly, the numerical method was very suitable to analyze the behavior of driven piles.