Some orthopaedic surgical procedures incorporate robotic machining to prepare bone for subsequent resurfacing. These require navigation feedback to achieve a pre-operatively determined pathway, and to minimize errors caused by unplanned movements between the robot and anatomy. This work presents the development of a force feedback navigation system that uses reaction forces through a flexible component which tethers the robot to the specimen being machined. A pre-planned pathway is mapped into a corresponding force-torque space, then during its operation, force-torque errors are transformed into corrective Cartesian movements with resolution functionality, including repeatability, disturbance rejection, and compensation for specimen movements. Finally, a resurfacing experiment was performed using a cancellous bone analog, achieving average positional error of 1.14 ± 0.75 mm, which is comparable to current optical tracking technologies.