The off-road tractive performance of tracked vehicles can be evaluated in terms of soil thrust, motion resistance and drawbar pull. The ability to predict accurately ground pressure distribution under track is of importance since the vehicle sinkage and motion resistance are closely related to it. While the formulation of the method for predicting ground pressure distribution follows closely in spirit the ideas outlined for the terrain with linear pressure- sinkage relation case by Garber and Wong, the analysis of various terrain stiffness is magnified by numerical implementation procedure. The effects of soil parameters on tractive forces can be introduced through the terrain-track interaction such as pressure-sinkage and shearing characteristics. It is illustrated by determining the drawber pull-slip relation and corresponding ground pressure distribution for the terrains typically chosen and by comparing the results with the conventional ones based on normal ground pressure. The factorial experiment method is finally adopted for checking the sensitivity of the values of soil parameters on the drawbar pull.