The invention concerns an insertion device for inserting a medical device into the subcutaneous or intramuscular area of a patient. More specifically, this invention relates to an insertion device comprising pivoting and guiding means for moving a penetrating member from a position, where the penetrating member is not pointing into the direction of insertion, to a position, where the penetrating member is pointing into the direction of insertion. The inserter device comprises a housing (15) encompassing a penetrating member (9), said housing comprising a top section (14) and a lower section (16), wherein said insertion device (1) comprises pivoting means (27, 31, 41, 43) and guiding means (10, 19, 16s, 31s, 18s) providing one or more pivoting movement(s) of the penetrating member (9) from a first position, where the penetrating member (9) is not pointing into the direction of insertion, to a second position, where the penetrating member (9) is aligned with the direction of insertion, to a third position, where the penetrating member (9) protrudes the housing (15) and the penetrating member (9) is aligned in the direction of insertion. The guiding means (10, 19, 16s, 31s, 18s) are adapted to provide a longitudinal movement of the penetrating member (9) from the second to the third position.