Tire vibration modes are known to play a key role in vehicle ride and comfort characteristics. Inputs to the tire such as impacts, rough road surface, tire nonuniformities, and tread patterns can potentially excite tire vibration. In this study, experimental modal analysis on the tire with ground contact are performed by impacting the tire in the radial direction at the center of contact patch. To investigate which modes of tire influence the vibration of wheel and axle when the tire is in contact with ground, the vibration characteristics such as frequency response functions, natural frequencies and their mode shapes from tire to wheel/axle are examined.