A wire insertion system includes a fixture, a first vibrating element connected to the fixture, and a gripper adapted to interface with the fixture and to support a plurality of wires, in which the gripper includes a body, at least one gripping member coupled to the body, and a second vibrating element connected to the gripper. The wire insertion system further includes a sensor coupled to the fixture, and a controller coupled to the sensor and in communication with the first vibrating element, the second vibrating element, and the gripper, and configured to vibrate the first vibrating element and the second vibrating element using signals from the sensor.