In medical field, teleoperation robots for surgery have been studied and developed to support surgeons. Surgical tasks such as needle insertion and suturing are realized by multi degree of freedom (DoF) forceps robots which are a component of a surgical robot. Besieds, surgical robots have some advantages such as automation of tasks to reduce the burden to surgeons. Motion reproduction system is a method to automate tasks. The haptic data is used as the data of human motion for motion reproduction system. However, realization of tasks by using multi DoF robots as a motion reproduction system is still difficult. In this paper, in order to realize support for surgeons by automatic motion, needle insertion is realized by the haptic surgical robot composed of multi DoF haptic forceps robots. Experimental results show that the motion of operator was reproduced by using the haptic data, and automatic needle insertion based on motion reproduction system was achieved.