I've never used Arch, but I think you should have a file called /etc/rc.local this can be used to add any commands or scripts you want to run at boot time.
If you edit the file and add this to the end it should start the vncserver, I've tried it in Debian and it works anyway. If rc.local has a line saying "exit 0" at the end put the command before that or it won't get run.
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/usr/bin/sudo -u your_username vncserver
Any commands in rc.local are run as root, so sudo -u is used to make vncserver run as though you ran it using your normal username. Might be worth checking that sudo is in /usr/bin, you can do this by doing,
if it's somewhere else change /usr/bin/sudo to wherever it lives.