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They don’t. You have to put the kitten in the box. The boxes and litter are designed to meet their natural preferences of being able to hide themselves and their excretions, so sticking the kitten in the box a few times is usually enough for them to recognize it as a safe place to go.
They’re going to go somewhere and when they do you put it in the box.
Just put it in the box
You dont essentailly have to. They try to find the most optimal place to do thei business when they have to. Assuming your kittens are only at 1 room at first they dont have much trouble finding it. Of course some cats can be bit stupid and you have to actually show them that it excists