The largest disadvantage of modern day minimally invasive surgery is the required use of X-ray or fluoroscopic imaging for locating or tracking medical catheters and tubes. The implications are increased costs and effort, limited availability for instance in less developed countries, and the cumulative exposure to contrast dyes and ionizing radiation are detrimental to health, especially in young patients and neonates with increased sensitivity. In order to reduce the use of X-ray imaging and provide a wider accessibility, a facile magnetic system is proposed for subcutaneous medical device localization. It consists of a lightweight and flexible, biocompatible, and permanent magnet at the tip of the subcutaneous device and a sensing device to scan the dermal surface and locate the magnetic tip. The mechanical and magnetic properties of the magnetic tip are tailored to fit the requirements of the delicate catheter application. Evaluation of the tracking system using a 5 Fr magnetic tip resulted in a depth-dependent position and orientation error of 0.75 mm and 3.7°. Additionally, a maximum placement depth error of 0.96 mm is achieved. Evaluation of the system in vivo revealed its practicality and accuracy as well as the influence of potential user errors.