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Step 1
Raise the relationship between the two pets you wish to breed. While there is no way to directly increase their relationship scores, pets that spend a good deal of time in one location together or that have been in the same house for a long time will build a relationship on their own. Keep your pets happy so they're less likely to fight one another.
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Step 2
Purchase a doghouse for the pets. They will need this to location to perform the "WooHoo" action, similar to how human Sims need a bed or hot tub for this action.
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Step 3
Click on one of your human Sims, then direct him to one of the animals you want to breed by clicking on the animal. You will be given the option for "Try for Puppy/Kitten With...." Select that option.
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Step 4
Choose the name of the second pet you want to use in breeding from the list provided. Remember to select the mate your first pet has a strong relationship with. Also note that dogs cannot mate with cats, and the animals must be of opposite genders.
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Step 5
Watch as the pets make their way into the doghouse. In here they will breed, and the female pet will give birth to a litter of puppies or kittens a few days later.
