Sorry to grave dig but a useful link is dead and the page wasn't archived..
To get the full Raspbian experience (start at boot, icon for service, information window) you just need to enable the correct service after installing. It is not done automatically and the VNC on/off switch isn't (yet) available in the Ubuntu MATE version of raspi-config.
- To reach local sessions, use Service mode:
sudo systemctl enable vncserver-x11-serviced.service - To reach virtual session, use Virtual mode:
sudo systemctl enable vncserver-virtuald.service
Most users will use Service mode so they can remote into the same session as the keyboard/mouse/monitor is running. Edit: reboot to see service changes.