A manipulator has great potential as a robotic companion designed to operate closely alongside humans. However, teaching a new capability to a robot is still a significant challenge for end-users due to the lack of proper expertise. This study investigates the usability of a teaching pendant designed for controlling a manipulator, with a specific focus on non-expert users. Recognizing the complexity of existing teaching devices, the research aims to create a user-friendly interface fostering intuitive human-robot interaction. Our teaching pendant utilizes HTC Vive VR controllers and a tablet application named “Wizard”. We employed a mixed-methods approach encompassing usability evaluation surveys and interviews involving 17 participants. Our findings reveal overall positive feedback, with notable strengths in intuitive mapping and responsive control. However, challenges related to control precision and interface feedback were identified, which are summarized as findings. To improve usability, we further suggest design implications for future teaching pendant, such as integrating haptic feedback into Vive controllers and providing explicit instructions before tasks. The study highlights the importance of user-centric design in robotic interfaces, offering insights for future developments in the field.