Recently, in the industrial field, the use of cooperative robots that work together with humans has been increased. Thus, the teaching of the cooperative robot is one of the important issues. However, in the teaching procedure, knowledge such as the coordinate systems, the joint movement and mechanism of the robot is required. Thus, a more intuitive teaching method is needed regardless of the above-described knowledge. In this paper we developed a method to intuitively teach a dual arm robot using virtual reality. In order to verify the VR based teaching, a robot simulator has been also developed. Through the inverse kinematics modules in the simulator, the trajectory of the end effectors is confirmed.