For a given initial configuration of a multi-component geometry represented by voxel-based data on a fixed Cartesian mesh, a full Eulerian finite difference method facilitates solution of dynamic interaction problems between Newtonian fluid and hyperelastic material. The solid volume fraction, and the left Cauchy–Green deformation tensor are temporally updated on the Eulerian frame, respectively, to distinguish the fluid and solid phases, and to describe the solid deformation. The simulation method is applied to two- and three-dimensional motions of two biconcave neo-Hookean particles in a Poiseuille flow. Similar to the numerical study on the red blood cell motion in a circular pipe (Gong et al. in J Biomech Eng 131:074504, 2009), in which Skalak’s constitutive laws of the membrane are considered, the deformation, the relative position and orientation of a pair of particles are strongly dependent upon the initial configuration. The increase in the apparent viscosity is dependent upon the developed arrangement of the particles. The present Eulerian approach is demonstrated that it has the potential to be easily extended to larger system problems involving a large number of particles of complicated geometries.