An insertion device for inserting at least a portion of at least one piercing member of an insertion set through the skin of a patient, including: a device housing and a carrier body for movement between an advanced position and a retracted position. The carrier body includes a receiving structure to support the insertion set in a position with the at least one piercing member oriented for insertion through the skin of the patient at a predetermined angle relative to the skin of the patient. A driver urges the carrier body with a controlled force and speed to place at least a portion of the at least one piercing member of the insertion set through the skin of the patient to install the insertion set to the patient. The receiving structure is removable from the insertion set while maintaining installation of the insertion set to the patient.