SUMMARYAn Eulerean large-strain finite element formulation is presented to simulate static soil penetration. The method is an extension of the Updated Lagrangean description to an Eulerean formulation taking into account convection of deformation-history-dependent properties as well as material properties. The strength of the soil is characterized by a non-associated Drucker-Prager criterion which depends on peak and critical friction angles. The model is applied to cone penetration in two-layer systems: (a) clay on sand and (b) sand on clay.