Geotechnical systems often examine interactions that occur between continuum bodies and granular soils. The systems and interactions can be accurately simulated by using multiscale coupling approaches. The model for the continuum bodies is often constructed into a mesh. The meshing, however, is time consuming for a huge spatial system and if distorted is subject to adjustments. A mesh-free approach can be used to eliminate these drawbacks. In this study, a mesh-free approach for simulating continuum–granular systems is presented. This approach combines element-free Galerkin (EFG) and discrete element (DE) methods to approximate the interactions. The capabilities of the coupled EFG–DE method are validated through its solving two example problems: the cantilever beam–disc system and Cundall’s Nine Disc Test. The proposed approach appears to be an efficient and promising tool to model multiscale, multibody contacting problems.