Although the changes in kinematics of infant reaching have been studied, few researchers have investigated the improvement of reaching regarding objects of distinct physical properties. The aim of this longitudinal study was to verify the impact of object size and rigidity on the development of reaching in 4-6-month-old infants. Four infants were observed with a motion capture system during trials with four objects of distinct sizes and rigidity. A total of 188 reaches were analyzed by using the 3D movement reconstruction. Our results showed that reaching frequency, mean velocity, and straightness index increased with age. The number of movement units decreased with age and increased for small objects. Rigidity was not shown to affect reaching trajectories. These findings suggest that infants are capable of perceiving the more relevant object properties, thus using their available motor capabilities to modify the essential variables so that they can reach the target more accurately.