Kneading is an activity common to all domestic
cats whereby, when in a state of contentment, they push the surface on which they're standing with their front
paws. This may have an origin going back to their
wild ancestors who would have had to tread down grass or
foliage to make a temporary
nest in which to rest or possibly a remnant of the newborn kneading of the mother's teat to stimulate milk secretion: kneading is often a precursor to
sleeping. Actually, many cats also
purr when kneading; they also do this mostly when newborn, while feeding or trying to feed on their mother's teat. The common association between the two behaviors may indicate the former's origins as a remnant instinct.
The action
The action is complex—the cat exerts firm downwards
pressure with its paw, opening its
toes to expose its
claws, then closes its claws as it lifts its paw. The process takes place with alternate paws at intervals of one to two seconds. They may do this while sitting on their owner's lap, which may prove painful if the cat is large, strong or has sharp claws (as the claws tend to dig into one's lap). Though cats will sit happily on a hard surface, that'll only knead a soft or pliant surface, although some cats will reflexively "march" on hard surfaces instead of kneading them.
In a garden where cats are to be found, sheltered areas can often reveal the "wild" results of kneading: round, cat-sized nests trodden into long grass. Domestic cats also make "nests" out of cardboard boxes (and such other things), if they get to use them as sleeping places; they do this also by kneading with their claws out, in a manner such as to scratch and soften some of the material. This action is different in manner, body language and intent from kneading when they're "happy".
Cats can sometimes adopt a blanket and use it like a comfort blanket. This will include lots of kneading, purring and suckling at the blanket. Cats mainly do this as kittens but sometimes it continues into adult life.
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