An infusion set has a disposable inserter that can insert a needle at a controlled rate of speed to a depth to deliver insulin or other medicament to the upper 3 mm of skin surface, and a skin securing, adhesive layer to secure the skin surface at the insertion site such that the inserter that can insert a needle without a risk of tenting of the skin surface. Position of the inserted needle can be maintained by providing a separated inner and outer hub of the infusion set that can isolate the inserted needle from external forces such that the needle can be maintained at a depth to deliver insulin or other medicament to the upper 3 mm of skin surface during normal use.