This dataset is used in conjunction with the manuscript submission entitled: “Training with a Visual-Haptic Simulator for Trocar Insertion,” which is submitted for consideration as a short paper in Transactions on Haptics for presentation with the 2024 Haptics Symposium Conference. Trocar insertions have the greatest risk of injuring a patient during laparoscopic surgery, with most of the injuries being attributed to surgeon error. However, surgeon error can be reduced through proper training.