The adoption of Virtual Reality (RV) technologies in prototype design and process revision has contributed to multiple industry areas. Nonetheless, the development of VR systems for engineering is a complex task, as it involves specialized teams handling low-level code development. Given these problems, the goal of this study is presenting a methodology for designing VR, through an Authoring System based on Computer-Aided Design (CAD). The presented methodology provides an easy integration of electric power substation floor plans and Virtual Reality software (VRS), as well as three-dimensional and symbol modeling conventions. Centralized software architecture was developed, composed of the CAD Editor, input manager and VRS. The methodology was evaluated through a case study applied to the conception (elaboration) of electric power substations (EPS) as part of a Research and Development (R&D) project for training and field assets supervision. The results demonstrated visual precision and high integrity in elaboration of a VR environment from the CAD floor plan. This work also presents a comparative analysis between manual conception and the Authoring System.