The pressure changes produced inside the fluid circuits of Hydraulically Interconnected Suspensions (HIS) often lead to vibration of pipelines and associated structures and become a source of structural noise. This paper presents the theoretical and experimental investigation into the vibration of a liquid-filled pipe guided hydraulic circuit system that is often used in a HIS. The Transfer Matrix Method (TMM) is applied to determine the steady state response of the fluid-structural system, which consists of pipe sections, hose elements, an accumulator, and several supports. The developed model of the hydraulic system is examined through simulations and laboratory based rig tests. In this paper, the performed experiments are described and the measured steady state responses of the fluid circuit are compared with those obtained from the simulations. It is found that the developed model of the hydraulic system including the coupling with boundaries has a reasonable accuracy in the frequency range of interest. The sensitivity analysis of system parameters is performed in this paper and shows their influence on the system dynamics.