A proprioceptive mechanism of vehicle driving simulator is proposed to realize pitch, roll and vibration action of vehicle driving simulator based on application foundation of proprioceptive mechanism. The proposed mechanism has very simple structure and a brief description of this mechanism is given. The proposed proprioceptive mechanism is established based on CATIA V5 platform by using the virtual prototyping technology. The CATIA V5 motion simulation model is used to simulate the proposed proprioceptive mechanism by setting the parameters of source motion input and motion interference and motion characteristic is analyzed to provide design basis. The kinematics simulation results show that the designed proprioceptive mechanism for vehicle driving simulator can realize the design requirements and complete the proprioceptive actions.