In vipassana meditation either samadhi or insight comes as the vehicle .When samadhi comes as a vehicle it's called Samanthayanika vipassana .In Samanthayanika meditation how yogi see the impermanence suffering and no self?
I think it is wrong to say that either insight (panna) or concetration (samadhi) comes through Vipassana. They both come through Vipassana, they both aid each other in their "coming through" and further growth. Of course, it is relativly easier to develop samadhi as compared to panna; nonetheless samadhi is perfected only when one has panna and panna cannot be perfected without having perfected samadhi. It is unclear what you mean when you say 'comes as a vehicle'. But if I were to take vehicle as that which carries you over the river of samsar- then 'vehicle' is vipassana. Concentration and Insight both go in hand in hand. A yogi who has perfected samadhi has more chances of perfecting panna, and therefore, is closer to Nirvana; than a yogi who is yet to perfect samadhi (for perfection of panna without perfection of samadhi is not possible).
DO note that these are not the only two things to be perfected. These are only two Paramitas. There are more.
Since the vehicle is Vipasssana only, one 'sees' the three marks of existence (anicca (impermanence), anatta (no-self), dukhha(suffering)) as anyone else would see-through insight build on a foundation of samadhi and other perfections (paramitas).