Unmanned Aerial Vehicles cannot work efficiently without a control system. Before any form of control is applied to it, modeling of the system is necessary. This work focuses on the development of a Taxi model of UAV. The reformulated model has been developed and simulated in Simulink and Simscape. Three scenarios have been considered in Simulation: Normal conditions with no wind, head and tail wind of 15 m/s and steering angle of 1 radian. The key objective of this model is to include all the necessary dynamics of UAV when it is in taxi phase. This has been done by modifying the vehicle body model in Simscape to fit to the specifications of the UAV and moreover integrating it with an undercarriage model from previous literature to include the forces.