Underwater interfacing technique is the key technique of the underwater vehicle. Now the technique is mainly used in the submarine rescue. Based on the structural characteristics of the model of BSAV-Ⅰand the interfacing apparatus with the manipulators which are made by Harbin Engineering University, a group of equations were defined and solved based on the six freedom motion of the model. The software Creator and Vega were used to build virtual ocean geographic environment and the deep submergence rescue vehicle(DSRV), the virtual simulation system is created，with which the virtual simulation of the docking process of DSRV and the disable marine is done. Except this, the research on simulation system of the interfacing apparatus of the underwater vehicle based on VR can test the docking strategy, find the problems in docking and improve the structure of the interfacing apparatus.