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Location: Atlanta, GA, USA
Joined: Sep 2010
Posts: 5,680
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I have heard that this type of behavior can come from being removed from their mother too soon, sibling not allowing it to suckle as it needs to, or it's mother abandoning it/not caring for it properly. It can also be random.
Here it's called "kneading" and it resembles a puppy or kitten suckling from it's mother and using it's feet to press the milk out. It's normal enough and with a young dog, he may grow out of it. Totally harmless.
For my cat that does this, I have designated something for her to do it on and she's totally content with it.