Abstract: Venepuncture or venipuncture is drawing blood from vein for testing or blood transfusion purposes. It is one of the most routinely performed invasive procedures that medical students must learn. Haptic interaction in virtual reality environments may provide an advance tool for training these skills. We present a novel and low-cost approach for image-based virtual haptic venepuncture simulation. We use actual photos of patient arms to provide a quick implementation of different virtual arms with better visual immersion. The function-based model of virtual veins helps us to achieve fast collision detection, while the haptic model for the multi-layer soft tissue provides stable and realistic force feedback. The implemented system was validated by medical staff.