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Limited precision of manufactured parts and limited repeatability of industrial robots are the two main sources of uncertainty in the automated assembly environment. Different accommodation techniques are used to improve the reliability of the assembly process. Simplified representation of the accommodation task environment, especially for precision assembly tasks, however, does not allow a reliable assessment of the possibilities for successful assembly. Presents a method for 3D simulation of the accommodation of round, rigid parts with clearance during their single or multiple insertions into a base part. The approach used considers the accommodation process to be a sequence of discreet contact events that is modelled as a transition from one contact situation to another. The simulation is performed in a MatLab environment. The 3D simulation of accommodation presented enables engineers to visualise the insertion process and improve its quality by designing effective accommodation devices. It creates a basis for a systematic and generic approach to assembly task analysis.