This paper presents a numerical model for simulating the pore-scale transport and infiltration of dilute suspensions of particles in a granular porous medium under the action of hydrodynamic and gravitational forces. The formulation solves the Stokes' flow equations for an incompressible fluid using a fixed grid, multigrid finite difference method and an embedded boundary technique for modeling particle-fluid coupling. The analyses simulate a constant flux of the fluid suspension through a cylindrical model pore. Randomly generated particles are collected within the model pore, initially through contact and attachment at the grain surface (pore wall) and later through mounding close to the pore inlet. Simple correlations have been derived from extensive numerical simulations in order to estimate the volume of filtered particles that accumulate in the pore and the differential pressure needed to maintain a constant flux through the pore. The results show that particle collection efficiency is correlated with the Stokes' settling velocity and indirectly through the attachment probability with the particle-grain surface roughness. The differential pressure is correlated directly with the maximum mound height and indirectly with particle size and settling velocity that affect mound packing density. Simple modification factors are introduced to account for pore length and dip angle. These parameters are used to characterize pore-scale infiltration processes within larger scale network models of particle transport in granular porous media in a companion paper.