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Tree kangaroos, like other mammals, reproduce sexually. They are able to breed all year round. Female kangaroos have two vaginas, or what are called paired lateral vaginae. These are for the purpose of transporting the sperm to the womb, but there is a midline pseudovaginal canal for actually giving birth.

The gestation period lasts 39-45 days, longer than other members of the kangaroo family. Baby tree kangaroos are the size of a jellybean when they are born. The female takes up the birthing position with her tail between her legs. The joey is born blind and hairless. It is born from the female's uterus and then climbs up the outer fur of the female and into the upward facing pouch where it attaches itself to a nipple until it becomes stronger. The mother tree kangaroo licks a path to the pouch to help guide the joey. Joeys live in their mother's pouch and feed by drinking milk. The teat swells in the joey's mouth, securing it in place so it cannot be accidentally dislodged. The joey will usually stay in the pouch for about 8 months.

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