A medicament injection device includes a device body portion that includes a penetrating member channel. A penetrating member is provided with a sharpened distal tip and shaft portion that is slidably disposed within the penetrating channel to provide for a penetrating to travel in a linear axial movement. A pierceable membrane isolates a penetrating member in an associated penetrating member chamber. A medicament reservoir is in fluid communication with the penetrating member. The medicament reservoir is configured to house a medicament and is coupled to the penetrating member to allow for delivery of medicament to a tissue site.