A control device controls the arm such that a first contacting operation of setting an object to a first orientation and bringing the object into contact with an inserted object is performed, and an inserting operation of setting the object to a second orientation different from the first orientation and inserting the object by moving the object in a first direction is performed. Between the first contacting operation and the inserting operation, the control device performs a second contacting operation of bringing the object and the inserted object into contact in a portion different from a contact portion in the first contacting operation by performing force control such that a component of a target force in a second direction orthogonal to the first direction is set to a value greater than 0 based on an output from the force sensor at an orientation at which the object is tilted.