Mortars will remain critical in future land wars due to their flexibility and versatility. When mortars are fired continuously, the contact soil is gradually compacted by the mortar base plate, and dynamic research into this process is the basis for innovative mortar design. However, the discontinuity and nonlinearity of soil contact absolutely necessitate the constitutive relationship of soil contact, which is difficult to study. Therefore, this study conducted experimental research and theoretical derivation to establish an accurate dynamic model of the mortar system. First, based on the nonlinear elastic-plastic theory and the stress-strain relationship of soil under cyclic loading, a theoretical analysis method for the constitutive relationship of contact soil under continuous loading was proposed. Second, an experimental and testing system was designed to simulate launch loads, and the stress-strain response of soil under continuous impact loads was obtained experimentally. Subsequently, based on theoretical analysis and experimental data, the stress-strain relationship during the gradual compaction of soil was established using the least squares method. Finally, a constitutive relationship model of the contact soil in the mortar system was established in ABAQUS using the VUMAT subroutine interface, and the calculated results were compared and analyzed with traditional calculation results. The results indicated that studying the constitutive relationship of mortar in contact with soil during continuous firing using this method can improve the accuracy of dynamically modeling mortar systems. Moreover, this study has practical value in the engineering design of mortar systems.