Normally they are very slow moving and seem to tentatively feel out the area ahead with their 'antenniform' legs before moving. They can scuttle quite fast though when they need to. When they walk they don't use the long first legs and rely on the back three pairs of legs only. They mate with a scorpion-like mating dance before the male deposits a spermatophore on the ground which the female then picks up. In some species the male, which tends to have longer palps, then inserts the tip of his palp into her genital opening and breaks it open to release the sperm.
Whip scorpions make excellent pets.
I currently have an adult and a number of juveniles of the giant Texas whip scorpion, Mastigoproctus giganteus. They are easy and safe to handle, their worst claws being unable to grasp round a finger, and their worst excess is a spray of acid at an offending hand. They seem to be quite hardy and tolerant of cool temperatures. They live happily on vermiculite in which they will burrow if given the opportunity, but a log or other shelter for them to crawl under is quite adequate. The adult Texan species feeds on crickets and other small insects, but does not readily take larger prey.