Hi Dear Sharma,
I think there are two possible solutions for you.
Firstly, for the next calculations add the following line in your Siesta input file (.fdf).
WriteCoorCerius .true
Then Siesta will write your system in a .xtl file. After that, open the .xtl file in a text editor to separate in two line the word "Cell" and the cell parameters, for example
"CELL
a b c alpha beta gamma"
After that open the .xtl file in VESTA and enjoy! :)
Secondly, it is slightly more easy take the coordinates of the .xyz file and the lattice cell parameters of the system to create a .xsf file, that can be read in both xcrysden and VESTA.
Regards