In Wyoming, pile foundations for bridges are often driven on rock materials because of the state’s shallow bedrock stratigraphy. Unfortunately, no static analysis methods are currently available for estimating the resistance of these driven piles. In this paper, two recently completed bridge projects (the Owl Creek and Woods Wardell sites) on steel H-piles in Wyoming are explicitly presented, and data from three past projects are included to highlight the limited knowledge and challenges pertaining to the present design and construction practices. Static analysis methods were used to estimate the geotechnical resistances of these piles. The wave equation analysis program and the case pile wave analysis program were used to verify their performances during construction. Structural capacities of these piles were also calculated. The results of the studies show that the static analysis methods and structural analyses yield inconsistent pile resistance estimations. Recommendations in terms of pile bracing and embedded pile length are proposed to predict better the resistances of piles on soft rock.