Adsorption process and order formation of electrostatically stabilized colloidal particles with a radius of 50 nm onto a planar surface with countercharge are examined. We perform Brownian dynamics simulations with a new three-dimensional cell model, in which the particle-particle and particle-substrate interactions are modeled based on the DLVO theory. The simulations yield the following results: (1) a larger bulk concentration would be required for larger kappaa to reach order formation to compensate for the decrease in the bulk potential; (2) the phase transition from a disordered to an ordered structure of the adsorbed particles on the substrate is considered to be of the Kirkwood-Alder type of transition through the examination of the two-dimensional pressure of the adsorbed particles; (3) the adsorbed particles are found to form a hexagonally ordered array, only if what we call "one-directional average force" acting on an adsorbed particle exceeds a critical value, which is independent of the ionic strength, or the interaction potentials. The critical value of the one-directional average force is interpreted as the force needed to keep an ordered structure by localizing adsorbed particles at fixed positions. In addition, the critical force is used to develop a new model to estimate the surface coverage at the order-disorder transition and it is demonstrated that the new model gives better estimation than other models previously reported. (C) 2004 American Institute of Physics.