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That is a very normal thing that cats do. I used to have a Silver Chinchilla Persian that really liked one of my brothers. If he was laying down on the couch he would do the same thing on his chest.
The cat is kneading as they do when kittens are nursing. It helps bring down the mother's milk. It is a gesture that means the cat is feeling very attached to the object of their kneading! Only problem is that their claws can hurt if they are too long!
Of course I've seen this by cats all the time and I'm the recipient of it every night. What got me is the black cat on the white dog and the perfect timing for the filmer to be there at the moment the cat decided to massage her friend. Perfect timing and perfect angle. Everything aligned just right.
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