 Cats start to knead as kittens while nursing from their mother. A nursing kitten instinctually needs to help stimulate the mother's milk production. You might find your cat kneading blankets, stuffed animals, or other soft objects around the house. Even though kneading a soft surface doesn't yield milk, adult cats forever associate the motion of kneading with the rewarding comfort of nursing. Cats are natural yoga masters and love to work out all the kinks left over from napping. Think about it, if you have sore shoulders, it feels good to grab onto a surface and pull against it. Kneading their paws is one of the many ways cats keep themselves limber until the next nap.