Base on the constitutive model expressed by convolution method for viscoelastic materials with damage, the initial-boundary-value problem analyzing static-dynamic behaviors of homogeneous, isotropic viscoelastic. Tiimoshenko beams with damage, placed on a viscoelastic foundation, is formulated under the case of finite deflections. And we adopt the model to simulate the dynamical behaviors of viscoelastic piles with damage placed on a viscoelastic foundation. The numerical methods in nonlinear dynamics are used to solve the simplified systems. The phase-trajectory diagrams, Poincare sections and bifurcation diagrams are all obtained. The influences of the material parameters of pile and foundation and load parameter on the dynamic behavior of the nonlinear system are investigated in detail.