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In this work, we study the acoustic forces acting on particles due to sound scattering at the interface with an elastic substrate. Utilizing the Green's function formalism, we predict that excitation of leaking Rayleigh wave results in strong modification of the acoustic pressure force acting on a monopole scatterer and changes the equilibrium position of particles above the substrate surface. We also showed that the presence of a substrate changes the configuration of the acoustical binding of two particles due to multiple rescattering of acoustic wave from the interface. The reported results propose the method of acoustic manipulation via surface waves excitation and demonstrate the effect from elastic media in acoustical trapping of microobjects.