The distal portion of a shape-memory filament extends from a needle containing at least one filament gripping element. To implant the shape-memory filament in tissue, the needle is inserted into a cannula with a flexible and removable hook. During partial withdrawal of the needle, the hook holds the distal portion of the filament stationary to deposit a section of filament in the distal portion of the cannula. The needle is re-advanced, pushing the section of the shape-memory filament to coil or fold within the tissue. Rotation of the needle with the filament gripping element further tightens the coiled or folded filament. Partial withdrawal, re-advancement, rotation and pushing of the needle are repeated to fill, pack, strengthen, enlarge or augment the tissue with the shape-memory filament.