This chapter describes the development of a reduced-order, modal framework for the simulation of structural dynamics incorporating the effect of isolated joints. The effect of the joint is included within the modal structure of the system, which can be identified from the dynamic response at low excitation levels when the system behaves linearly. Then, the joint is represented by a reduced-order model for the distributed interface developed from an appropriate shell theory. This reduced-order joint model can be viewed as the continuum limit of a series–series Iwan model. Finally, the overall approach is illustrated on a simple discrete structural system. The resulting simulation is computationally efficient and is described in terms of joint parameters that can easily be related back to measurable quantities such as the coefficient of friction.