Petroglyphs is an essential part of the worldwide cultural heritage since it plays a key role for the comprehension of prehistoric communities previous to writing. nowadays 3D data are a critical component to permanently record the form of important cultural heritage so that they might be passed down to future generations. Recent 3D scanning technologies allow the generation of very realistic 3D model that can be used for multimedia museum exhibitions to attract the users into the 3D world. In this paper, we develop the 3D petroglyph VR contents based on a novel gesture recognition method. The proposed gesture recognition method can recognizes the movements of the user using 3D depth sensor by comparing with the pre-defined movements. Also this paper presents new approaches for 3D petroglyphs data recording using 3D scanning technology as accurate and non-destructive tools.