The U.S. Army Tank Automotive Research, Development, and Engineering Center’s (TARDEC) Ground Vehicle Simulation Laboratory (GVSL) has provided warfighter- and hardware-in-the-loop simulation of current and future vehicle systems for several years. Gaps remain in GVSL capability regarding the visualization and behavior modeling of human entities. Filling these gaps is necessary to create an immersive and realistic urban environment for warfighter-in-the-loop patrol or convoy simulation. The current gaps in behavior modeling and visualization capabilities are being addressed through an academic partnership. The five-year project, part of the Simulation-based Reliability and Safety (SimBRS) program, is leveraging capabilities to generate a wide range of animations in the GVSL environment from human motion capture data and to develop extended and new vehicle and pedestrian behavior models. This long-term effort will significantly impact the breadth and realism of simulations possible using the TARDEC GVSL.