If you really need to establish the tunnel first and run vncviewer later and only then get to the remote console, this is the basic script:
#!/bin/sh
tmpd="$(mktemp -d)" || exit 1 # temporary directory creation
srvr=10.0.0.1 # remote server
sckt="$tmpd"/"$$-${srvr}".socket # control socket for SSH connection sharing
clean() { rm -rf "$tmpd"; } # cleaning function, removes the temporary directory
# establishing SSH master connection
ssh -o ControlMaster=yes \
-o ControlPath="$sckt" \
-o ExitOnForwardFailure=yes \
-Nf -L 555:localhost:555 "$srvr" || { clean; exit 2; }
# the tunnel is now established
vncviewer >/dev/null 2>&1 & # silent custom command in the background
ssh -o ControlPath="$sckt" "$srvr" # reusing the master connection
# (exit the remote shell to continue)
wait $! # waiting for vncviewer to terminate
ssh -o ControlPath="$sckt" \
-O exit "$srvr" # terminating the master connection
clean || exit 4 # removing the temporary directory
Tested on Kubuntu client connecting to Debian server. I'm not sure how robust it is. Treat it as a proof of concept. See man 1 ssh and man 5 ssh_config for details.