This disclosure relates to a pile-driving vehicle (1), comprising a chassis (11), a movement system (15) for moving the vehicle (1) on a soil, a first driving apparatus (21) and a second driving apparatus (22). Each driving apparatus (21, 22), which is intended to drive a respective pile into the soil, comprises a first member (31) that is constrained to the chassis (11), a second member (32) that is movable relative to the first member (31) along a driving line (200) and an actuating device (33) for moving the second member (32) relative to the first member (31). The movement of the second member (32) comprising an outward stroke, during which the actuating device (33) pushes the second member (32) towards the soil, applying a force on the second member (32) along the driving line (200), and a return stroke, during which the second member (32) is moved away from the soil. The second member (32) is designed to transmit the force to the pile to be driven in. The first driving apparatus (21) and the second driving apparatus (22) can be operated alternately, in such a way that the outward stroke of the second member (32) of the first driving apparatus (21) corresponds to the return stroke of the second member (32) of the second driving apparatus (22), and vice versa. This disclosure also relates to a method for driving a plurality of piles into a soil.