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Dynamic interaction between a rigid foundation and layered poroelastic soils is studied in this paper. The foundation is subjected to time-harmonic vertical horizontal and moment loading, and bonded to a layered poroelastic half-space. The interaction problem is formulated by employing a discretization technique based on the rigid body displacement boundary conditions at the foundation-soil contact surface and the displacement influence functions of a layered poroelastic half-space. The discretization method used in this paper yields a flexibility equation system for the contact traction at the foundation-soil contact area. Comparison with existing solution for a rigid square foundation on an elastic half-space is presented to verify the accuracy of the present scheme. Selected numerical results for compliances of rigid square foundations are presented to portray the influence of poroelastic effects on the dynamic interaction problem.