No there isn't. The VB.NET IDE can only open VB.NET projects. You can use the conversion wizard to convert a VB6 project to a VB.NET project and then open that, but the results can be questionable. The differences between the languages and projects are significant, so automatic conversion is a difficult job. Most people will tell you that you should simply rewrite the application from scratch, especially if you have any intention of modifying or extending it.
If you do want to go the wizard route, Microsoft have built one into VS 2008, but not 2010. For 2010, there is a free third-party tool available, which you can download from MSDN. I have no direct link but you should be able to find it with a search.