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One possibility is that it is a learned behavior that evolved from kiss feeding, the process by which mothers in some cultures feed their babies by passing masticated food from mouth-to-mouth. However, there are some contemporary indigenous cultures which still practice kiss feeding, but not social or erotic kissing.
Your baby's sense of touch begins to develop early in pregnancy as it explores the uterine wall, umbilical cord and even its own body parts, spending the most time touching its face. As early as the ninth week, your baby will respond when its lips or areas around the mouth are touched.