To address the problem of efficient and stable guidance and insertion in peg-in-hole assembly, an innovative assembly strategy combining vision and force sensing technologies was proposed. Based on existing studies, a three-point contact configuration was identified as the ideal initial condition for assembly and was set as the starting point of the insertion phase. Since it is challenging to guide the peg precisely to the hole center using only force and torque data, vision and force sensing were integrated to enhance the reliability of peg-hole alignment. During the assembly process, the peg pose was actively adjusted by the vision system before contact with the working platform, ensuring that the spatial relationship between the peg and the hole was well constrained before the insertion stage. In addition, the traditional torque control method was improved, and an optimized control scheme was proposed to simplify the calculation of torque target values and to reduce the effect of force/torque sensor drift on peg position adjustment, and to explorate of the application potential of vision and force sensing in peg-in-hole assembly. The method is expected to be achieved, providing a reliable technical approach for peg-in-hole assembly in precision automated systems.