We focus on an approach to the transfer of human motion to a mechanical manipulator. First, human motion during inserting a deformable hose into a rigid plug is measured using position and force sensors. Measurement are then analyzed for contact between the hose and plug. We found that an alternating motion during this action effectively inserts a deformable hose into a plug. Human motion is embedded directly in a manipulator program. The manipulator does insertion successfully when hose positional error is within a certain range. We then show that refining human motion helps a manipulator do the operation quicker.