The development of new and complex vehicle models using the absolute nodal coordinate formulation (ANCF) and multibody systems (MBS) algorithms is discussed in this paper. It is shown how a continuum-based finite element (FE) leaf spring and tire assembly can be developed at a preprocessing stage and integrated with MBS algorithms, allowing for the elimination of dependent variables before the start of the dynamic simulations. Leaf springs, which are important elements in the suspension system of large vehicles, are discretized using ANCF FEs and are integrated with ANCF tire meshes to develop new models with significant details. To this end, the concept of the ANCF reference node (ANCF-RN) is used in order to systematically assemble the vehicle model using linear algebraic constraint equations that can be applied at a preprocessing stage. These algebraic constraint equations define new FE connectivity conditions that include the leaf spring shackle/chassis assembly, tire flexible tread/rigid rim assembly, tire/axle assembly, and revolute joints between different vehicle components. The approach presented in this paper allows for using both gradient deficient and fully parameterized ANCF FEs to develop the new models. In order to develop accurate leaf spring models, the prestress of the leaves and the contact forces between leaves are taken into consideration in the ANCF models developed in this investigation. Numerical results are presented in order to demonstrate the use of the computational framework described in this paper to build continuum-based leaf spring/tire assembly that can be integrated with complex vehicle models. The results of this paper also demonstrate the feasibility of developing a CAD (computer-aided design)/analysis system in which the geometry and analysis mesh of a complete vehicle can be developed in one step, thereby avoiding the incompatibility and costly process of using different codes in the flexible MBS analysis.