How do the lines on a map come into being? What stories do they tell? These questions are examined in the context of cave exploration and mapping in Venezuela. Ethnographic analysis focuses on mapping in the field, the translation of notes into final maps, and discourses surrounding these practices. The lines that cave surveyors sketch in field books while traversing underground passages reveal a dialectic between cartographic and exploratory practices. Two key factors shape this dynamic: first, the experience of probing humans “pushing passages” with no obvious end in sight, and second, the coordinated and skilled use of tools by explorers working in teams. Here, humans define both the scale and perspective of cartographic representations. But bodies slithering along passages make lines, too. This paper simultaneously considers lines of lead on paper and traces of bodies in the earth as a way to think of exploration and mapping as emergent engagements. This case powerfully illustrates the ontogenic nature of maps, highlighting the (re)production of social relations that continually brings them into being along with the environment that engenders these engagements. Finally, cave exploration and mapping illustrate the limits of our vision and technologies to grasp and order nature.