I have added some screen grabs as to how I would go about it. Everything is done in one plane (front plane are coincident).
Create your individual tread file, with 2 points concentric with the pivot points.
Create a sketch in the assembly file to define the path which the tracks will follow.
Use the 'Path Mate' under the advanced mate tab. select one of the points from the individual part file and use the selection manager to select the closed loop for the points to follow.
Each track section should only require one path mate and one concentric mate (to next track section) in order to have the entire chain follow the path. Hope this helps!