The solution for the vertical dynamic interaction forces between a moving vehicle and the bridge deck is analytically derived and experimentally verified. The deck is modelled asa simply supported beam with viscous damping, and the vehicle/bridge interaction force is modelled as one-point or two-point loads with fixed axle spacing, moving at constant speed. The method is based on modal superposition and is developed to identify the forces in the time domain. Both cases of one-point and two-point forces moving on a simply supported beam are simulated. Results of laboratory tests on the identification of the vehicle/bridge interaction forces are presented. Computation simulations and laboratory tests show that the method is effective, and acceptable results can be obtained by combining the use of bending moment and acceleration measurements.