Long time and unlimited resources is usually the way to go. Sure machinery would make it fast, but you can get 10 guys to hammer for 2 years to drive it. Then move on. Even today it's a huge logistics and financial problem to build bridges which is why typically it's always governments that did it.
The machine that shows up about 3 seconds in looks to me like a manual piledriver, uses pulleys and cranks yo pull the weight up, then just gravity to drop it down the track.