open vnc://localhost:5901
Or
Finder -> Go -> Connect to Server -> vnc://localhost:5901
This will start up the macOS build-in Screen Sharing app, which support VNC, and should do exactly what you want. Especially if the other system is a Mac.
NOTE: Is your remote VNC server running on port 5901? I ask, because typically VNC servers use port 5900. I would have expected to see an ssh command more along the lines of:
ssh -L 5999:127.0.0.1:5900 -N -f -l username remote.system.address
Where the 5999 is the local port (could be any unused port), 5900 is the VNC server port on the remote system, and the command to make your connection would be "open vnc://localhost:5999"
If you are NOT going to another Mac, but rather going to a Linux or Unix based system, then download and install the free RealVNC Viewer. This will perform better in a cross platform environment.
<https://www.realvnc.com/en/connect/download/viewer>
I find the nicest thing is that RealVNC keeps your clipboard in sync, so that you can Copy & Paste between the 2 systems.
Re: vncviewer is an open source app. It is also X11 based. To use vncviewer you would have to
A) get it via a package manager (or compile it yourself)
B) install XQuartz to get X11 support on your Mac
C) it would be a less pleasant experience. 🙂
PS. I do VNC across ssh tunnels all the time. I connect to my Mom's 300 mile away iMac using an ssh tunnel. When connecting from home to work and I want to use a VNC, I use an ssh tunnel.
PS 2. I have used vncviewer in an X11 environment on my Mac, so I speak from experience. The macOS Screen Sharing, RealVNC, or Chicken (of the VNC), would all be better than using vncviewer.