A method for penetrating a material with a fastener dispensing needle includes the steps of partially penetrating the material using a first penetration stroke, partially withdrawing the needle from the material using a first withdrawal stroke and, in turn, fully penetrating the material using a second penetration stroke. Once fully penetrated, a plastic fastener is dispensed from the fastener dispensing needle. Thereafter, the fastener dispensing needle is fully withdrawn from the material. Additional partial penetration and withdrawal strokes could be incorporated into the needle penetration cycle in a repeating pattern, as needed, with each penetration stroke preferably having a stroke length which is twice the length of each withdrawal stroke. The use of an oscillating, back-and-forth, linear needle penetration cycle serves to minimize the risk of lateral needle deflection which can result in bending or breakage of the needle as well as damage to the penetrated material.