This　paper　presents　a　mathematical　model　for　the　analysis　of　axially-loaded　end-bearing　piles　embedded　in　a　two-layer　elastic　soil　deposit.　The　governing　equations　of　the　soil　layers　surrounding　the　pile　are　cast　by　means　of　a　Tajimi-type　continuum　formulation,　and　this　allows　deriving　a　closed-form　expression　that　provides　the　frictional　stresses　that　develop　at　the　soil-pile　interface.　The　pile　is　treated　as　two　virtual　one-dimensional　elastic　rods,　and　pile　displacements　are　obtained　by　solving　a　system　of　linear　equations　that　results　from　considering　the　boundary　and　continuity　conditions.　This　results　in　improved　efficiency　compared　to　existing　Tajimi-based　solutions　for　piles　in　layered　soil,　at　no　expense　of　accuracy.　The　model　is　used　to　study　the　effect　of　the　relative　stiffness　of　the　soil　layers　on　the　serviceability　behavior　of　axially-loaded　piles,　and　drawn　conclusions　of　practical　importance.　©　2023　John　Wiley　&　Sons　Ltd.