The numerical solution of various systems of linear equations describing fluid infiltration uses the Picard iteration (PI). However, because many such systems are ill-conditioned, the solution process often has a poor convergence rate, making it very time-consuming. In this study, a control volume method based on non-uniform nodes is used to discretize the Richards equation, and adaptive relaxation is combined with a multistep preconditioner to improve the convergence rate of PI. The resulting adaptive relaxed PI with multistep preconditioner (MP(m)-ARPI) is used to simulate unsaturated flow in porous media. Three examples are used to verify the proposed schemes. The results show that MP(m)-ARPI can effectively reduce the condition number of the coefficient matrix for the system of linear equations. Compared with conventional PI, MP(m)-ARPI achieves faster convergence, higher computational efficiency, and enhanced robustness. These results demonstrate that improved scheme is an excellent prospect for simulating unsaturated flow in porous media.