Haptic guidance is a powerful tool for people rehabilitation, for handcraft skills acquisition and all kind of enactive tasks. In this paper, different techniques to achieve reliable haptic feedback on the execution of virtual robotic tasks, based on the efficient combination of path planning methods and haptic guidance primitives, are presented. The main contribution of this paper is a reliable system of force guidance based on haptic primitives. The whole proposal is constituted by: 1) a free collision path obtained using a deterministic sampling, hierarchical cell decomposition and harmonic functions 2) force feedback, achieved by means of elastic models, based on simple geometry elements,called haptic primitives, and 3) a virtual robotic task.