A robotic system comprising: at least one input device (41,42); an entry guide; a plurality of articulated instruments (2231, 2241, 2261) extending out of a distal end of the entry guide; a plurality of instrument manipulators (2232, 2242, 2262) for manipulating corresponding ones of the plurality of articulated instruments (2231, 2241, 2261); and wherein a processor is adapted to: receive one or more commands from the at least one input device (41, 42) that indicates the plurality of articulated instruments (2231, 2241, 2261) is to be moved in tandem back towards the entry guide; cause a haptic force to be applied against the at least one input device (41, 42) in a manner so as to progressively increase in force as the one or more commands from the at least one input device (41, 42) to move the plurality of articulated instruments (2231, 2241, 2261) in tandem back towards the entry guide progressively exceed a limit distance (IO LIM) from an initial position; cause an abrupt reduction to the haptic force being applied against the at least one input device (41, 42) upon the at least one input device (41, 42) commanding the plurality of articulated instruments (2231, 2241, 2261) to move in tandem back towards the entry guide by a distance substantially equal to a retraction-on distance (IO ON) from the initial position, wherein the retraction-on distance (IO ON) is greater than the limit distance (IO LIM) from the initial position; and command the plurality of instrument manipulators (2232, 2242, 2262) to manipulate each of the plurality of articulated instruments (2231, 2241, 2261) so as to assume retraction configurations only in response to the one or more commands received from the at least one input device (41, 42) to move the plurality of articulated instruments (2231, 2241, 2261) in tandem back towards the entry guide by distances greater than the retraction-on distance (IO ON) from an initial position. at least one input device (41,42); an entry guide; a plurality of articulated instruments (2231, 2241, 2261) extending out of a distal end of the entry guide; a plurality of instrument manipulators (2232, 2242, 2262) for manipulating corresponding ones of the plurality of articulated instruments (2231, 2241, 2261); and wherein a processor is adapted to: receive one or more commands from the at least one input device (41, 42) that indicates the plurality of articulated instruments (2231, 2241, 2261) is to be moved in tandem back towards the entry guide; cause a haptic force to be applied against the at least one input device (41, 42) in a manner so as to progressively increase in force as the one or more commands from the at least one input device (41, 42) to move the plurality of articulated instruments (2231, 2241, 2261) in tandem back towards the entry guide progressively exceed a limit distance (IO LIM) from an initial position; cause an abrupt reduction to the haptic force being applied against the at least one input device (41, 42) upon the at least one input device (41, 42) commanding the plurality of articulated instruments (2231, 2241, 2261) to move in tandem back towards the entry guide by a distance substantially equal to a retraction-on distance (IO ON) from the initial position, wherein the retraction-on distance (IO ON) is greater than the limit distance (IO LIM) from the initial position; and command the plurality of instrument manipulators (2232, 2242, 2262) to manipulate each of the plurality of articulated instruments (2231, 2241, 2261) so as to assume retraction configurations only in response to the one or more commands received from the at least one input device (41, 42) to move the plurality of articulated instruments (2231, 2241, 2261) in tandem back towards the entry guide by distances greater than the retraction-on distance (IO ON) from an initial position. receive one or more commands from the at least one input device (41, 42) that indicates the plurality of articulated instruments (2231, 2241, 2261) is to be moved in tandem back towards the entry guide; cause a haptic force to be applied against the at least one input device (41, 42) in a manner so as to progressively increase in force as the one or more commands from the at least one input device (41, 42) to move the plurality of articulated instruments (2231, 2241, 2261) in tandem back towards the entry guide progressively exceed a limit distance (IO LIM) from an initial position; cause an abrupt reduction to the haptic force being applied against the at least one input device (41, 42) upon the at least one input device (41, 42) commanding the plurality of articulated instruments (2231, 2241, 2261) to move in tandem back towards the entry guide by a distance substantially equal to a retraction-on distance (IO ON) from the initial position, wherein the retraction-on distance (IO ON) is greater than the limit distance (IO LIM) from the initial position; and command the plurality of instrument manipulators (2232, 2242, 2262) to manipulate each of the plurality of articulated instruments (2231, 2241, 2261) so as to assume retraction configurations only in response to the one or more commands received from the at least one input device (41, 42) to move the plurality of articulated instruments (2231, 2241, 2261) in tandem back towards the entry guide by distances greater than the retraction-on distance (IO ON) from an initial position.