Find the capacity just like any other beam-column.
In everything worth calling soil, you can consider it braced continuously below grade, although in some cases it's good to assume the top 0.5m of soil is not present.
One tricky part is that most concrete column interaction diagrams don't include reinforcing less than 1% (because that's a common minimum limit for above-grade columns), but that concrete drilled shafts or piles are often designed with as little as 0.5% reinforcing. Software can handle that just fine.
It's not part of the question you asked, but worth mentioning since it's often missed by young engineers -- don't forget that the shear and moment in the pile below grade can be *larger* than the applied shear and moment at the pile head.
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just call me Lo.