A percutaneous delivery tool may be used to implant a medical device, for example, within a subcutaneous space. The percutaneous delivery tool may include a handle, first and second attachment members, and first and second connecting members connecting the attachment members to the handle. In some examples, the first and second attachment members are configured to receive the medical device such that the medical device is positioned between the attachment members. In some additional examples, the first and second connecting members are angled with respect to the handle, the first connecting member is angled with respect to the first attachment member, and the second connecting member is angled with respect to the second attachment member.
