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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.
1 The gastrocnemius is the larger calf muscle, forming the bulge visible beneath the skin. The gastrocnemius has two parts or heads, which together create its diamond shape.  The soleus is a smaller, flat muscle that lies underneath the gastrocnemius muscle.