Orientation and mobility (O&M) is critical for the independence of visually impaired individuals, yet the adoption of AI-powered assistive technologies remains limited due to the lack of safe and structured training. Herein, we present an immersive virtual reality training system that enables visually impaired users to acquire O&M skills in a controlled and risk-free environment. The system uses a head-worn motion capture setup combining an inertial measurement unit and ultra-wideband sensors to synchronize users’ physical movements with a virtual avatar. Users receive real-time auditory navigation cues, allowing them to practice navigating complex virtual environments and interacting with virtual target objects. We conducted experiments with nine naïve visually impaired participants who used our system to complete O&M training tasks. Results show that participants were able to reach task proficiency within 90 min of training, with over a 40% improvement in task completion efficiency. These findings highlight the potential of our system to accelerate O&M skill development and promote broader use of assistive technologies.