In this paper we present a method for the tracking of interacting targets disregarding whether or not the targets are close to each other. The method relies on parametric modeling of assumptions about targets interactive motion. Our filtering solution incorporates the parameters of the model in the state vector to perform on-line parameter estimation and exploitation. The proposed method is applied in a simulated Multiple Target Tracking application with radar track-before-detect measurements. Numerical experiments show that this approach results in estimation error reduction, allows detection of interactive target behaviors and reduce labeling uncertainty in closely-spaced targets tracking.