Indoor positioning system has gaining lots of attention for indoor navigation recently since the Global Positioning System (GPS) has very low accuracy indoor. In the same time, Light-emitting Diodes (LEDs) have become the future generation of light source over the traditional one because of its various promising advantages such as low energy consumption, environmental friendliness, high luminous efficiency, low cost etc. This project studied a positioning system utilizing Visible Light Communication (VLC). There are several other existing technologies which have been studied and used for indoor position such as ultrasound, magnetic, Wi-Fi, Blue tooth technology and so on. However, there are still have some problems related to the accuracy and high cost. In this project, an indoor positioning system using VLC is proposed. It provides higher position accuracy within centimeter in low cost. Received Signal Strength Indicator (RSSI) algorithm is used to estimate the coordination of the receiver. The position accuracy is analyzed by using a derived Cramer-Rao Bound (CRB). Moreover, several important factors for indoor localization such as incident angles, LEDs layouts (square and triangular LED arrays), LEDs numbers and total noise has been considered.