A new task-level adaptive controller is presented for the hybrid dynamic control of constrained motion systems, Using a hybrid dynamic model of the process, velocity constraints are derived from which satisfactory velocity commands are obtained, Due to modeling errors and parametric uncertainties, the velocity commands mag be erroneous and may result in suboptimal performance, A task-level adaptive control scheme?, based on the occurrence or discrete events, is used to change the model parameters from which the velocity commands are determined, Automated control of an assembly task is given as an example, and simulations and experiments for this task are presented, These results demonstrate the applicability of the method and also indicate properties for rapid convergence.