Given the high occurence rate in assembly industry, mating a peg into a hole can be considered as one of the most classic problem in robotics. Such a task has been extensively examined by many researchers who have repeatedly attempted to find out a general solution for it. Peg in hole, which is, needlessly to mention, extremely trivial for any human operator, is surprisingly difficult to have it carried out by a robot manipulator. The reason is partly due to a physical limitation of the mechanical compliance of the robot wrist and arm and partly to a lack of a mating strategy allowing the successful execution of the task whatever the initial position of peg and hole axes is. The work presented in this paper tackles a particular class of peg-in-hole (tandem peg-in-hole) and proposes within the behaviour-based paradigm a solution to its two main components (hole search and peg insertion) loosely modeled on the equivalent strategies performed by a blind human being in possess solely of the same sensing capability (i.e. a simple differential touch sensor).