In this work, we consider adaptive motion and force control of a robot performing a complete task. By a complete task we mean that the robot desired task contains both free motion and constrained motion. Further, we also consider transition from free motion to constrained motion. We divide the motion of the robot into three phases: (i) inactive phase, where the robot is in free motion, (ii) transition phase, where the transition from free motion to constrained motion takes place, and (iii) active phase, where the robot is in constrained motion with simultaneous force and position control. Uncertainty of the constraint results in the impact of robot with the constraint surface when transition from free motion to constrained motion. We design stable control laws for the three phases that results in an efficient algorithm for robots performing a complete task. Extensive experiments are conducted to show the validity of the proposed control designs.