Technology is described for a system to provide skill training in various fields, including professional fields involving hand-held instruments. The system senses a user's manipulation of an instrument or tool using various sensors, e.g., for a dental tool, an array of pressure sensors in the tool's tip, grip sensors, and sensors to track the position and movement of the tool. The system includes lessons to train users in the proper methods to manipulate the tool and provides guidance and feedback based on the user's performance to build the user's skills, prevent injury, and document competency.