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When the infant is five to six months old, he/she will close their fingers and grasp an object placed in his/her hand. Even if something strokes your baby's palm, he/she would immediately close his/her fingers in order to grasp, which is called the palmar grasp. This grip can be strong at times.
At about age 6 months, infants can usually oppose the thumb in the grasping motion. Most infants can sit without support also around this age. By age 9 months, while sitting by themselves, infants should be able to self-correct posture when tilted to one side or the other, rather than just being tipped over.