The use of microneedle (MN) systems has the potential to benefit a wide range of biomedical applications but is hindered by poorly controlled insertion. Herein, a novel MN penetration strategy is presented, which utilizes the recovery stress of near-infrared light-triggered shape memory polymers (SMPs) to drive MN insertion. This strategy enables force control over MN application with the precision of 15 mN through tunable light intensity. The pre-stretch strain of SMP can be further predetermined to provide a safety margin on penetration depth. Using this strategy, we demonstrate that MN can precisely insert into the stromal layer of the rabbit cornea. Additionally, the MN unit array allows programmable insertion for multistage and patterned payload delivery. This proof-of-concept strategy promises remotely, precisely, and spatiotemporally controlled MN insertion, which may inspire the further development of MN-related applications.