An activity mat is provided for promoting the development of one or more of foot strength, motor skills, balance, and sensory awareness. In one example, an activity mat comprises a body portion comprising a foam, the body portion having a first density, and one or more surface features included on a top surface of the body portion, wherein at least one of the one or more surface features has a second density, the second density different than the first density. Each of the one or more surface features may be either raised or recessed relative to the top surface of the activity mat providing an uneven surface with variable density.