Nucleic acids physical properties can be investigated by theoretical methods which range from fully atomistic representations to coarse grained models, e.g. the worm-like-chain, taken from polymer physics. Here I take an intermediate approach, usually named mesoscopic, and show how to build a three dimensional Hamiltonian model which accounts for the main interactions responsible for the stability of the helical molecules. While the 3D mesoscopic model yields a sufficiently detailed description of the helix at the level of the base pair, it also provides a convenient approach to extract information regarding the thermodynamics and structure of molecules in solution. The main features of a computational method developed over the last years are discussed together with some applications to the calculation of DNA flexibility properties.