To study the rolling properties of a radial tire, an accurate 3D 195/60R14 tire model is established. The modal includes the geometric nonlinearity due to large deformation, material nonlinearity, the anisotropy of rubber-cord composites, the nonlinear boundary conditions from tire-rim contact and tire-pavement contact. The model can be used to simulate the changes of a rolling tire and calculate the tire deformation for various operating conditions. The profile of the inflated tire is studied experimentally and numerically. The simulation result is in good agreement with the test result. Some contact problems, such as the tire deformation, the shape of contact area, the contact pressure distribution, are discussed in detail.