Mechatronics is the integration of different sciences and techniques of mechanical engineering, automatic control, electronics, and informatics. The rapid evolution of the market competitors requires the reduction of development time of a product while increasing the quality and performance. It is, therefore, necessary to increase the efficiency of the design process. To meet this need, simulation and, especially, virtual prototyping have become a key technology. It is difficult to find simulation tools are able to analyze multidependent systems of different areas. However, an environment that allows a simulation integrating multidisciplinary mechatronic systems is necessary. This paper describes a method of design and simulation of mechatronic systems. First, we identify the behavior model and its associated 3D geometric model. The behavior model is seen as a dynamic hybrid system of two coupled hybrid automata (operative part and control part). Then, we present OpenMASK and OpenModelica simulators, the IEEE1516 standard HLA and work related to this distributed architecture for simulation. In a top-down approach, we present our method and experiments to integrate HLA functionalities in these simulators and to distribute the modeling elements of mechatronic systems. Also, we propose extensions to integrate real-time for interactive simulations. Finally, we apply our approach on a representative example of a mechatronic system.