This study focuses on implementing robotic peg-in-hole in a more human-like approach, namely using dual-arms and dexterous robotic hands. The peg-in-hole strategy in this study mainly consists of two parts: grasping strategy (hand part) and assembly strategy (arm part). The grasping strategy explains the fundamental grasping method called “advanced blind grasping” and the in-hand manipulation method that is required for the reorientation of the workpiece. A feed-forward task space force control scheme is proposed for the actual implementation. The assembly strategy presents fundamental unit motions called “perturbation pattern” and proposes four assembly stages that are constructed by a combination of the unit motions. A force-position hybrid control for the implementation of the assembly strategy was also addressed. For evaluation, a peg-in-hole assembly demonstration with a keyhole-like shape was conducted using a human-sized 50-DOF upper-body robot.