This paper summarizes the experimental vibration-based structural health monitoring study on a historical monument in Jordan. In this work, and within the framework of the European Commission funded project "wide-Range Non-Intrusive Devices Toward Conservation of Historical Monuments in the Mediterranean Area", a seven and a half century old minaret located in Ajloun (73 km north of the capital Amman) is studied. Because of their cultural value, touristic importance and the desire to preserve them for the future, only non-destructive tests were allowed for the experimental investigation of such heritage structures. Therefore, after dimensional measurements and determination of the current state of damage in the selected monument, ambient vibration tests are conducted to measure the accelerations at strategic locations of the system. Output-only modal identification technique is applied to extract the modal parameters such as natural frequencies and mode shapes. A Non-linear version of SAP 2000 computer program is used to develop a three-dimensional finite element model of the minaret. The developed numerical model is then updated according to the modal parameters obtained experimentally by the ambient-vibration test-results and the measured characteristics of old stone and deteriorated mortar. Moreover, a parametric identification method using the N4Sid state space model is employed to model the dynamic behavior of the minaret and to build up a robust, immune and noise tolerant model.