The study aimed to understand the feeding behavior of Neotropical brown stink bug nymphs Euschistus heros (F.) on soybean plants during vegetative stage through electropenetrography (EPG) technique. Three distinct phases were identified: non-feeding, pathway, and ingestion. Waveforms representing these phases were consistent across nymphal instars and plant structures, and named Np, Eh1, and Eh2, respectively. Biological interpretations of the waveforms were proposed by integrating visual observations, comparisons with adult waveforms, and histological studies. The waveforms Np, Eh1, and Eh2 were associated with resting/walking, initial stylet-plant contact, and xylem sap ingestion, respectively. Notably, nymphs showed a higher number of Eh1 events and longer durations when feeding on petioles compared to leaves, particularly in younger instars. However, differences between instars diminished in older nymphs. Fifth instars consistently exhibited the highest Eh1 values, and displayed longer xylem ingestion durations compared to other instars. Second instars demonstrated increased xylem ingestion events on petioles compared to leaves. Across plant structures, on petioles, nymphs generally showed longer xylem ingestion durations than on leaf surfaces. Fifth instar consistently had the longest ingestion durations overall. Additionally, statistical differences in xylem ingestion duration were observed between instars within each plant structure, with fifth instars displaying the longest durations. These findings offer valuable insights into the feeding behavior of E. heros nymphs, which could inform the development of more effective pest management strategies for soybean crops.