This study provides a sequential joint angle calculation for robotic manipulators in offline robot programming, leveraging the basic Jacobian matrix. We consider that a human operator provides a desired trajectory for the manipulator using a motion tracker, and that its corresponding virtual manipulator in the computational space can follow it with its end effector. This approach is inspired by direct teaching for real-space manipulators, in which a human operator physically manipulates the manipulator’s end-effector by hand, and we aim for VR-aided robot programming. Our simulation results demonstrate the computation of the sequential joint angles that follow the desired end-effector trajectory of a 6-DOF manipulator. The desired trajectory is provided via keyboard input, and the average tracking precision is less than 0.5 [mm] within 0.02 [s] in simulation, even when the desired motion includes complex rotations and transitions. Thus, the resulting joint angles can be efficiently transferred to the real robot.