<p>Drive-by bridge monitoring is a reliable, fast condition screening, cost-effective, and inspection alternative to direct monitoring. The vehicle self-frequencies and surface roughness are the two critical factors affecting the indirect bridge monitoring methods. This paper presents a baseline-free two-step approach for indirect monitoring of bridges based on wavelet analysis of the residual contact point (CP) response. In the first step, the residual contact response devoid of surface roughness and vehicle self-frequencies is computed using the double-pass concept. The two double-pass approaches are (i) repeating the passage of the same vehicle at different speeds and (ii) repeating the same vehicle passage with a slight mass addition during the second pass at the same and different speeds. In the subsequent step, the positions of bridge damage are determined by analyzing the wavelet transform of the singularities present in the residual CP response (detail signal). The present work employs two distinct wavelet analysis techniques, (i) multi-level discrete wavelet transform and (ii) wavelet packet transform in the second step. Numerical simulations and lab level experimental studies have been carried out on a bridge, with damage simulated at varied locations and severities. The proposed two-step indirect monitoring can identify multiple damages and relatively characterize the severity of the damage.</p>