In this letter, an integrated dual-user visible light communication and positioning (VLCP) system based on non-orthogonal multiple access (NOMA) is proposed. The system consists of a single light-emitting diode (LED) and five photodiodes (PD), and the adaptive feedback threshold (AFT) algorithm is used to reduce error propagation (EP) to improve noise immunity. The particle swarm optimization (PSO) algorithm is employed to construct a joint optimization function that optimizes the power allocation factor of the two users and the roll-off coefficient of the square-root-raised-cosine(SRRC) filter. The simulation results demonstrate that, in the given indoor environment, the bit error ratio (BER) of each user in the proposed system is lower than the front error correction (FEC) limit and the average positioning errors of the two users are 4.62 cm and 5.74 cm respectively.