Various types of pile driving work may induce high-intensity ground-borne vibrations. Predicting vibration intensity before adopting mitigation measures is vital for minimizing the impact of vibration on nearby structures and occupants. Vibratory pile driving is a commonly applied foundation construction method. However, numerical simulation models for ground vibrations during a complete process of vibratory driving have rarely been studied. This study introduces an axisymmetric finite element model that utilizes the arbitrary Lagrangian-Eulerian technique to simulate the continuous vibratory driving of a circular closed-ended pile penetrating from the ground surface to a target depth. The model validity was confirmed by assessing the calculated ground vibrations against the findings documented in earlier research. The results showed that the critical penetration depth of piles, at which the maximum peak particle velocity (PPV) occurs, varied with the radial distance and depth of points of interest, contradicting a common preconception. Moreover, the maximum PPV did not always occur on the ground surface across all radial distances. Parametric analysis revealed that an increase in the soil cohesion strength, pile diameter, or soil-pile friction, or a decrease in the driving frequency or soil damping ratio would increase ground vibrations due to vibratory pile driving.