Teleoperation through large time delay (T3D) is one of the key techniques for space telerobotics. How to overcome the impact of the time delay in the communication links and the limited bandwidth, is the focus in the research of T3D. In this paper, the main idea of applying Virtual Reality (VR) in T3D is discussed. The relative key problems in applying VR, including teleprogramming, and model calibration, are especially concerned. Based on the concept of supervisory control and teleprogramming, an experimental telerobotics system is implemented. The system has successfully fulfilled several tasks including the peg-in-hole task.