Exploration for an infant means discovering anything about that environment. If that infant needs an opportunity to be brought to them, that's okay. Let an infant explore through their senses, whether it's touch, or smell, or taste, or sight, or hearing.
Cerebral palsy is an injury to the brain, but what we find is that it has a lot of effects on how you use your muscles.
For a child with CP learning to move, the really important things to remember are that the child should always be active.