Yes, hedgehogs do mark their territory with scent. They have scent glands located on their bellies and between their quills that they use to mark their territory. When a hedgehog rubs against objects or even on their human caregivers, they are depositing their scent to mark their space. This behavior is more common in male hedgehogs, especially during breeding season, as they use scent marking to attract potential mates and establish their territory.

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Hedgehog Behavior Scent Marking Territorial Behavior