A device for penetrating tissue with reduced force and placing a guidewire is provided. The device includes a driving actuator generating reciprocating motion. A penetrating member having a lumen dimensioned to accommodate a guidewire is provided. A coupler mechanically connects the driving actuator and the penetrating member to transfer the reciprocating motion to the penetrating member. The penetrating member may be coaxial or axially offset from the driving actuator. At least one frictional member facilitates the movement of the guidewire through the lumen for placement at the target tissue. The frictional member(s) may be operated manually or by a guidewire actuator. A housing may also be provided including a channel also dimensioned to accommodate the guidewire, and may further include the frictional member(s) for facilitating movement of the guidewire. The channel and lumen are aligned to permit placement of the guidewire at the target site.