<p>Offline programming has been pivotal in advancing the widespread use of industrial robots. With the development of virtual reality (VR) simulation technology, there is an opportunity to upgrade the existing offline programming system. In this paper, we propose a motion capture and VR-based offline programming system that combines the advantages of human (intelligence adaptive) and computer-aided VR programming (immersive, high efficiency). A virtual offline programming environment based on HTC VIVE is created, allowing the user to walk, observe the environment from different angles, and interact with the virtual space as if they were in a real robot cell. A human–robot interface based on motion capture has been designed to allow users to flexibly control a virtual robot via a control handle per the observed virtual scene. An algorithm for action-based interaction with a virtual CAD model is proposed. Based on this algorithm, three programming modes are designed within the system to reduce operational difficulty and unlock the user’s programming creativity. Simulations and experiments on the six degrees of freedom (6-DoF) UR10 robot have been conducted to verify the effectiveness of the proposed system and demonstrate the correctness of the algorithms used in the system.</p>