Rayleigh and body waves are both solutions of the same propagation equation, but correspond to different wavenumber regions and boundary conditions, so their interaction with the elastic parameters (Vp, Vs and density) provides independent constraints during inversion. We develop and illustrate concurrent, elastic, full-waveform inversion of P and S body- and Rayleigh-waves using interleaved envelope- and waveform-based misfit functions, in a gradually-increasing frequency, multi-scale, inversion strategy. A wavelet and its envelope have different effective bandwidths, spectral shapes, and provide complementary frequency and wavenumber weighting in concurrent inversion. Because of the greater depth extent sampled by the exponentially decaying tail of a Rayleigh wave, compared to a body waveform, the depth extent of the model required to support both body and surface waves in concurrent inversion is defined by the Rayleigh waves. Correlation coefficients provide quantitative measures of the contributions of the data subsets to the fits of the solutions. For both smooth and constant starting models, concurrent interleaved inversion gives smaller data misfits than the envelope-only and waveform-only solutions. Treating the whole wavefield as a single data set means that it is not necessary to separate, or even to identify, different types of body and surface waves.