A pipeline insertion system (100) may include an insertion device (102) outside a tunnel that includes an insertion device frame (104) and a movable clamp device (106) in slidable engagement with the insertion device frame. A drive may cause the movable clamp device engaged with a pipeline to move between a first position (108) and a second position (110) along the frame. Inside the tunnel, the system may also include a plurality of support frames (118) remote from the insertion device and remote from each other which support the pipeline on bearings as the pipeline is pushed (or pulled) by the insertion device through the bores of a plurality of housing segments (122) mounted in the tunnel. A controller (126) is operative to control the drive and the movable clamp device responsive to transducers which measure pipeline slippage, thrust force, and clamping pressure.