You define a bearing connector between split cylindrical faces of a shaft and cylindrical or spherical faces of a housing. You can use a bearing connector when the housing is not much stiffer than the shaft.
To define a bearing between the shaft and the housing, right-click Connections 
in the Simulation study tree and select Bearing.
The exploded view shows a cylindrical split face of a shaft connected to a spherical face of the housing.
You must create split faces on the shaft representing the contact areas before defining a bearing connector.