This paper presents a methodology to model three-dimensional reinforced concrete members by means of embedded discontinuity elements based on the Continuous Strong Discontinuous Approach (CSDA). Mixture theory concepts are used to model reinforced concrete as a 3D composite material constituted of concrete with long fiber bundles (rebars) oriented in different directions embedded in it. The effects of the rebars are provided by phenomenological constitutive models designed to reproduce the axial non-linear behavior, as well as bond-slip and dowel action. This paper is focused on the constitutive models assumed for the components and the compatibility conditions chosen to constitute the composite. Numerical analyses of existing experimental reinforced concrete members are presented, illustrating the applicability of the methodology.