An infusion set insertion device and method of use with an insertion device for an infusion set having an infusion set body including: a barrel defining a pull handle cavity; a pull handle slideably disposed in the pull handle cavity, the pull handle having an outer surface and defining an infusion set cavity and a release button cavity, the pull handle having a cocked position and an advanced position relative to the barrel; a release button slideably disposed in the release button cavity, the release button having a loaded position and a released position relative to the pull handle; and a driver operable to move the pull handle from the cocked position to the advanced position; wherein the release button extends a first axial distance beyond the outer surface when in the loaded position and extends a second axial distance into the infusion set cavity when in the released position.