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The gastrocnemius inserts at the calcaneous bone of the heel of the foot by way of the Achilles tendon. Achilles Tendon. Muscles insert to bone through their tendons. Muscle bundles are surrounded by filmy connective tissues. These connective tissues extend from the muscle and gather to form tendons. Tendons are denser and more fibrous than muscle.
The medial head of the gastrocnemius muscle originates from the posterior aspect of the medial femoral condyle, and as it courses distally, the medial head merges with the lateral head of the gastrocnemius.