This paper introduces a mesh continuation scheme for a one-dimensional inverse medium problem to reconstruct the spatial distribution of elastic wave velocities in heterogeneous semi-infinite solid domains. To formulate the inverse problem, perfectly-matched-layers(PMLs) are introduced as wave-absorbing boundaries that surround the finite computational domain truncated from the originally semi-infinite extent. To tackle the inverse problem in the PML-truncated domain, a partial-differential-equations(PDE)-constrained optimization approach is utilized, where a least-squares misfit between calculated and measured surface responses is minimized under the constraint of PML-endowed wave equations. The optimization problem iteratively solves for the unknown wave velocities with their updates calculated by Fletcher-Reeves conjugate gradient algorithms. The optimization is performed using a mesh continuation scheme through which the wave velocity profile is reconstructed in successively denser mesh conditions. Numerical results showed the robust performance of the mesh continuation scheme in reconstructing target wave velocity profile in a layered heterogeneous solid domain.