A lancing device includes a lancing mechanism, a floating probe and a pressure tip. The lancing mechanism includes a lancet carriage, a lancet holder slidably connected to the lancet carriage, and a lancet attached to the lancet holder. The pressure tip of the lancing device is configured for engaging a target site and creating a target site bulge. The floating probe is adapted to floatably contact the target site bulge and to operatively interact with the lance carriage to control a penetration depth of the lancet into the target site bulge. A method for lancing a target site includes providing the lancing device describe above and contacting the pressure tip of the lancing device with the target site. The pressure tip is then urged towards the target site to create a target site bulge with the floating probe of the lancing device floating on a surface of the target site bulge. Next, the target site bulge is lanced while the floating probe operatively interacts with the lance carriage to control a penetration depth of the lancet.