A global health issue, sexual assault affects individuals of all ages, genders, and socioeconomic status. Forensic nurses, particularly sexual assault nurse examiners (SANE), deliver trauma-informed, patient-centered health care. Providing care to persons who experience sexual violence requires mastery of numerous psychomotor skills, many of which are not taught in nursing school. To facilitate knowledge and skill development, simulation-based learning was incorporated into an adult sexual assault simulation course designed for new SANEs. A virtual reality (VR) simulation was developed over three years with a multi-disciplinary team to assist Registered Nurses (RNs) who were novice SANEs to master technical skills necessary to perform the sexual assault examination. Through a head mounted display, learners were immersed in the virtual environment, working their way through modules that taught technical skills. This novel approach was created through a unique collaboration of students, content experts, and faculty, providing a consistent platform to examine a vulnerable population without re-traumatizing the victim. The VR simulation may be used to train new nurses and refine skills of more experienced nurses in sexual assault examination.