The construction industry is considered one of the most dangerous industries globally. The construction site is a complex environment where diverse teams of people interact with large machinery. In addition, the lack of safety culture on the job site and deficiencies in safety training increase these problems. Within the construction works, geotechnical drilling worksites involve high-powered machinery, and workers are exposed to different risks when using them. Despite these risks, safety training courses on these topics are not specialized. Most of the training courses are generic in occupational hazards, failing to address in detail the work dynamics and risks associated with geotechnical work, where heavy machinery is a fundamental factor. There is a lack of adequate learning content specific to drilling works, meaning the heavy machinery, how to use it and how to prevent accidents due to these drilling tasks are poorly understood. This research investigates the risks associated with geotechnical drilling work and explores the potential of virtual reality (VR) to simulate immersive work environments, focusing on interaction with drilling machinery. A geotechnical drilling machine modelled 3D and integrated into a realistic VR environment. The machinery motions and the different tasks of the work team were modelled. The simulation allows a worker to interact in a working environment, identify risks and prevent accidents, and, moreover, be trained in best practices for machinery usage, according to previous real-world experiences from senior workers.