Your cat needs to trust you to the point of being able to hold it and perform intricate duties that may require your cat to remain still.
Duties like administering medications or clipping of nails or applying a flea and tick treatment, all require a steady hand and a very still cat.
If your cat trusts you, then it will not be as tempted to squirm out of your arms if you are doing something sensitive that needs your cat to be still.
Your cat will develop this trust if you train it to stay still while you are brushing it, but now, brush your cat while it is on your lap.
Having your cat on your lap will also prepare it for other duties being performed on your lap.
Reassure your cat that everything is ok and just talk to it in a gentle manner, if you are calm your cat will rem
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