A novel practical method is presented for the analysis of soil-structure interaction (SSI). In this method, the structure is modeled by nonlinear FEM (OpenSees), and the soil is modeled by a time domain solution that is transformed from a frequency domain analytical solution using a discrete time domain recursive filter. The boundary conditions of force and displacement between soil and structure are satisfied using Newton's method, and the coupling between the two substructures is based on CS integration techniques. We use structure and soil systems with a single degree of freedom, and study a real SSI example to determine the efficiency, accuracy, and applicability of the proposed method. Furthermore, we examine the differences between the conditions when considering and not considering SSI effects. This study proposes a practical method for nonlinear seismic analysis of SSI systems, and the research results provide valuable insights for engineering applications.