Purpose: Newly hired visiting nurses often face difficulties adapting to autonomous home-based care environments despite their vital role in serving vulnerable populations. Practical, field-based training is essential to support early adaptation. Objective: This study aimed to develop and implement a preceptorship-based training program using joint home visits, and to evaluate its effectiveness and satisfaction among participants. Methods: A three-day structured program was developed using the ADDIE model, including briefing, joint home visits with preceptors, and debriefing. A total of 83 visiting nurses (38 new, 45 senior) participated from five districts in Seoul. Satisfaction and training adequacy were assessed through a structured questionnaire. Descriptive statistics and t-tests were used for analysis. Results: Both groups reported high satisfaction with the training program. New nurses experienced increased confidence and reduced anxiety. Senior nurses reported improved role clarity and mentoring awareness. Statistically significant differences were found between the groups regarding training guideline adequacy and preceptor staffing (p<.05). Conclusion: The joint home visit preceptorship program was positively perceived by participants in supporting new nurses' job adaptation and enhancing self-efficacy. This model can inform standardized onboarding education for public health nurses and contribute to long-term workforce retention.