We propose a finite-difference scheme for the simulation of seismic waves interacting with 3-D freesurface topography. The intended application is velocity model building by acoustic full-waveform inversion (FWI). The scheme follows an immersed boundary approach for wave equations in the firstorder stress-velocity formulation, discretized on a standard staggered grid. Our scheme employs modified 1-D stencils rather than a full 3-D field wavefield extension at the free surface. Although this decreases the accuracy, it improves the scheme's simplicity and robustness. To avoid stability problems, points close to the zero-pressure boundary must be excluded. The scheme, and its adjoint, have been tested by tilted geometry tests and by comparison...