Controller Compatibility
From Vintage Story Wiki
The base game does not support support controller usage, however there are different free programs to make playing Vintage Story with a controller feasible.
DS4Windows
It can be used to program a PS4 controller connected to your computer, making it possible to play the game with the key mapping of your choice.
AntiMicro
It can be used to program a Xbox 360/One controller. A possible setup was shared on the discord and will be added here as soon as permission was given by the original poster.