An intravenous catheter insertion device and method of use are described. The insertion device coordinates movement of an access needle, a coaxial intravenous catheter and a flexible safety guidewire. A vein is punctured with the access needle, then an actuation member on the insertion device is used to advance the safety guidewire into the vein. The safety guidewire allows the access needle and the intravenous catheter to be safely advanced into the vein. Then, the actuation member is actuated to simultaneously withdraw the access needle and the safety guidewire, leaving only the intravenous catheter in the vein. The intravenous catheter is then disconnected from the insertion device and connected to a source of intravenous fluid, medication, etc.