I tried this few years ago, install V.N and then check the related checkbox during installation for installation of Matlab tools. Then, you will find a sample simulink model which contains that vn block. Just copy it and paste it in your simulink. It works but note that I did this 4 years ago, so the Matlab version was 2009 and VN was the latest version.
VN was Working Model 3D and then 4D after them MSC started to buy new companies and/or their products and then to combine the products. Now Sim X series of MSC are the main products (sim designer, sim manager,...)