How can we use a lightning component in a Salesforce VisualForce Page?

A Lightning component can be embed in any webpage using a very powerful and flexible feature, Lighting out. When used with Visualforce some complexity becomes simpler.
Lightning component can be added to Visualforce page in three steps:

1. We have to first Add the Lightning Components for Visualforce JavaScript library to your targetted Visualforce page using the tag.

2. Next we have to create and refer a Lightning app which is used to the component dependencies.

3. Lastly we need to write a JavaScript function which will finally create the the component on the page using $Lightning.createComponent()

Lightning Components for Visualforce is based on Lightning Out, a powerful and flexible feature that lets you embed Lightning components into almost any web page. When used with Visualforce, some of the details become simpler. For example, you don’t need to deal with authentication, and you don’t need to configure a Connected App.

In other ways using Lightning Components for Visualforce is just like using Lightning Out. Refer to the Lightning Out section of this guide for additional details