The Sucker-Rod Pumping (SRP) system is the most used artificial lift method in oil wells in Brazil and in the world. The widespread use of this method can be justified by its relatively simple, reliable and durable structure, convenient maintenance, etc. The need to increase the production of oil and gas, due to the growing global energy demand, has stimulated the development of a complex industry driven by technology. Due to the popularity of the SRP systems in the oil industry, over the years, many studies have been developed to contribute to the evolution of the method. The first researches carried out had as the main goal the modification of the geometric structure of the pumping units, so that the SRP Units could work in different operational conditions, thus increasing the flexibility of using the method. Subsequently, with technological advances and the advent of industrial automation, new studies were carried out in order to apply control strategies to the SRP systems, among which the Pump-Off controllers (POC) and Variable Speed Drive controllers (VSD) stand out. It should also be noted that recent researches have been carried out aiming to improve the operation of the SRP Units from the modification of the speed profile during the same pumping cycle. In addition, recent computational advances have enabled the development of SRP simulators, as well as software for modelling and simulation the SRP system. Thus, there is an opportunity to develop a more accurate model, capable of accurately reflecting the operation of the Sucker-Rod Pumping Units. In this context, this work proposes to model a conventional SRP Unit using the tools of the Simscape Multibody™, a MATLAB’s library of the Simscape environment for modelling and simulation of physical systems. As initial results, simulations were performed with the modelled system to: verify the calculation of dynamometer cards implemented in MATLAB programming language; validate the kinematics of the modelled SRP Unit; analyze the behaviour of the net torque curve with the change in the counterweight’s position; compare the net torque curve obtained with the modelled system with the curve obtained by the procedures described in API SPEC 11E (2013) standard. In general, it was noted that the results initially achieved were consistent when compared to the calculation models existing in the literature or with the actual behaviour observed in practice in the operation of Sucker-Rod Pumping Units.