This link has the instructions to install VNC on Ubuntu 16.04

https://www.digitalocean.com/community/tutorials/how-to-install-and-configure-vnc-on-ubuntu-16-04

Following are the fixes for things that didn't work for me

Missing Icons in XFCE

#follow the tutorial but also add these icons
sudo apt-get install gnome-icon-theme

Keyboard Shortcut Stops Bash Tab Completion Fix

XFCE has a keyboard shortcut mapping that stops TAB completion fix here
https://www.smork.info/blog/2015/06/10/fixing_bash_tab_completion_in_xfce.html