To scamper is to move in a hurry. You and your friends might scamper to catch the bus, or your kitten might scamper to catch a mouse.
The verb scamper describes something that's moving in disorderly haste, often out of fear or excitement. You might notice that chipmunks scamper the instant your dog goes outside. You can also use scamper as a noun, when you talk about your death-defying scamper across town in an effort to be on time for your first day of work. Scamper was a very popular word in the late 1800s.