Real-time substructring testing is under rapid development. is a hybrid computational-experimental technique, and its challenge is to ensure that the numerical substructure and the experimental substructure interact in real time, which requires efficient numerical integration methods. With this mind, based on the Rosenbrock real-time integrator, a coupled time integration method is proposed which enables completely parallel computation. By virtue of a Single-DoF split-mass test problem, stability and accuracy analyses are performed theoretically for the coupled method. Moreover, numerical simulations on a Three-DoF split-mass system are conducted to further investigate the convergence and other properties of the coupled method. The theoretical analysis and the numerical simulations reveal that the method exhibits favourable stability and second order accuracy. Compared with direct time integration methods, the proposed method is more suitable for Real-Time Substructuring Tests of complicated structures and relevant hybrid simulations.