The present disclosure relates to a medicament delivery device. The medicament delivery device includes a needle for delivering a medicament and an insertion mechanism configured to urge the needle in a first direction parallel to a longitudinal axis of the needle. The insertion mechanism includes a driving mechanism and a cam. The driving mechanism is configured to exert a force in a second direction perpendicular to the first direction. The cam is coupled to the needle and is configured to receive a force from the driving mechanism and move in the first direction in response to the received force.