The pedestrian-bridge dynamic interaction problem in the vertical direction based on a bipedal walking model and damped compliant legs is presented in this work. The classical finite element method, combined with a moving finite element, represents the motion of the pedestrian in the dynamic analysis of a footbridge. A control force is provided by the pedestrian to compensate for the energy loss due to the system damping in walking and to regulate the walking performance of the pedestrian. The effects of leg stiffness, the landing angle of attack, the damping ratio of the leg and the mass ratio of the human and structure are investigated in the numerical studies. Simulation results show that the dynamic interaction will increase with a larger vibration level of the structure. More external energy must be input to maintain steady walking and uniform dynamic behavior of the pedestrian in the process. The simple bipedal walking model could well describe the human-structure dynamic interaction.