Federated semi-supervised learning (FSSL) has emerged as a powerful paradigm for collaboratively training machine learning models using distributed data with label deficiency. Advanced FSSL methods predominantly focus on training a single model on each client. However, this approach could lead to a discrepancy between the objective functions of labeled and unlabeled data, resulting in gradient conflicts. To alleviate gradient conflict, we propose a novel twin-model paradigm, called Twinsight, designed to enhance mutual guidance by providing insights from different perspectives of labeled and unlabeled data. In particular, Twinsight concurrently trains a supervised model with a supervised objective function while training an unsupervised model using an unsupervised objective function. To enhance the synergy between these two models, Twinsight introduces a neighborhood-preserving constraint, which encourages the preservation of the neighborhood relationship among data features extracted by both models. Our comprehensive experiments on four benchmark datasets provide substantial evidence that Twinsight can significantly outperform state-of-the-art methods across various experimental settings, demonstrating the efficacy of the proposed Twinsight.