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This study presents the design and implementation of a low-speed intrusion experiment under microgravity, with a strong motivation to support the pre-research of the Chinese asteroid exploration mission. In the experiment apparatus, we reconstructed an effective gravity of 10 - 2 g in a free-falling capsule in the drop tower. The simulant of regolith particles is processed using natural basalt and sorted using layered screens. The irregular shapes of the particles are retained to mimic the realistic regolith. A detailed description of the experimental system components and the full-cycle procedure is first presented, which gives 3.6 s of microgravity time for each trial. Repeatable controlled experiments are performed to characterize the dynamical responses of the simulant particles under centimeter-per second intrusion. The results reveal diverse responses that depend on different variables, and the mechanism of different responses is discussed based on theories of granular mechanics. This experimental study is expected to improve our understanding of the contact mechanics of regolith material, which will facilitate the operation design of future asteroid missions. [ABSTRACT FROM AUTHOR]