In a series of three articles, fundamentals of a vector form intrinsic finite element procedure (VFIFE) are summarized. The procedure is designed to calculate motions of a system of rigid and deformable bodies. The motion may include large rigid body motions and large geometrical changes. Newton's law, or a work principle, for particle is assumed to derive the governing equations of motion. They are obtained by using a set of deformation coordinates for the description of kinematics. A convected material frame approach is proposed to handle very large deformations. Numerical results are calculated by using an explicit algorithm. In the first article, using the plane frame element as an example, basic procedures are described. In the accompanied articles, plane solid elements, convected material frame procedures and numerical results of patch tests are given.