Twelve- and 18-month-old infants participated in a study designed to investigate the quality of their manual action when relating an object to the surface on which it is explored. Specifically, infants’ perception-action routines were observed when they were presented with multiple objects (wooden scoop, Velcro block, and crayon) on surfaces of varying properties (paper, sand, and Velcro) to determine if sensory feedback or perceptual awareness steered their exploration of the available materials. Infants were observed to selectively tailor their manual actions across conditions, apparently guided by a perceived awareness of the fit between their manual dexterity and the environmental arrangement.