In this paper, we propose an indoor visible light communi- cation(VLC) localization using Walsh code which can distinguish overlapped transmitted-signals as each of transmitted signal with different LED source at the receiver and using Manchester code which can eliminate the flicker of LED light. The proposed system can estimate the relative three dimensional position of the receiver by using Lambertian radiation properties and trilateration method that are applied to the location information of fixed LED sources and the received signals from them. In order to verify the feasibility of the proposed system, we carried out the simulation in an indoor space with 6×6×3m3 installed 16 LED lamps. The simulation result shows that the proposed method achieves an average positioning error of 0.0536m and a maximum positioning error of 0.2977m.