Objectives: The aim was to investigate the effect of skin contact between mother and child in pain relief of full-term newborns during heel blood collection. Materials and Methods: The authors randomly divided 40 full-term newborns into two groups. In the experimental group, the newborn received kangaroo care from the mother before, during, and after the 20-minute heel blood collection. In the control group, the heel blood collection was performed under conventional conditions. The authors compared the two groups’ heart rate, oxygen saturation, facial expressions of pain, and duration of crying. Results: The two groups had no statistically significant difference in terms of gender, birth weight, mode of delivery, and gestational age (p > 0.05). In the seven time periods during the puncture after ten seconds from the beginning and ten seconds after the end, the neonatal heart rates of the two groups changed and statistically significant differences were observed in the duration of heel blood collection, interaction and group factors, as well as in oxygen saturation (p < 0.01). Conclusions: During heel blood collection, skin contact between the mother and child can relieve pain, reduce changes in heart rate, improve neonatal heel blood oxygen saturation, and enhance the emotional communication between the mother and child.