Abstract: A system for virtual reality training, to acquire procedure movements in odontology, by sensing data concerning spatial position of a real hand-held element (2), three-dimensional representation of a virtual object (T) on a display screen (7), processing spatial position data for providing spatial display of a virtual instrument (OV) corresponding to the actual spatial position of the real element (2), supplying a virtual instrument (01-04) for operating on the virtual object (T) and modelling an interaction between the virtual instrument and said virtual object (T). The hand-held element (2) belongs to a haptic man-machine interface (IHM) comprising actuators controlled to supply the user holding in his hand the real element (2) with a force-feedback when the virtual instrument (OV) interacts with the virtual object (T). The invention is useful for pedagogical and professional purposes.