Squirm the Worm was an inchworm that Greg Heffley found when he was nine years old and kept as a pet after he was crawling up the front steps. He was only mentioned in Hard Luck.
Greg used to keep him in a jar with little holes poked on top for breathing. Every day he would let him out of the jar to get exercise. Unfortunately, Manny was taking his first steps at the time, and he squished Squirm. Susan told Greg that he was in Inchworm Heaven, and that he shouldn't be sad. Years later, he found a parenting book entitled Helping Your Child Deal with Loss, and realized that's where she got the concept from.
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Greg releases Squirm the Worm out of the jar to get exercise
Manny squished Squirm the Worm with his feet, which makes Greg shocked
Susan telling Greg that Squirm the Worm is in Inchworm Heaven