The behavior in which cats push their paws in and out against a soft surface is called kneading.
During kneading, a cat alternates its front paws, pressing down and curling its toes as though working dough. Cats often perform the behavior on blankets, cushions, or a person’s lap, and many purr while doing it. Because sharp claws may be involved, an affectionate kneading session can still be uncomfortable for the recipient.
The behavior begins in kittenhood. Nursing kittens rhythmically press against their mother’s mammary glands, which may help stimulate milk flow. Adult cats often retain this instinctive action, particularly when relaxed, sleepy, or seeking comfort. Kneading may also soften a resting place, reflecting a possible connection to nest-making behavior in wild ancestors.
Kneading is not exactly the same as scratching. Scratching usually involves dragging the claws across a surface for maintenance, marking, or stretching, while kneading consists mainly of alternating pressure with the paws. Cats also have scent glands in their paw pads, so kneading may leave chemical signals on familiar objects or people.