This article is from the Llamas & Alpacas FAQ, by Michael Shealy and William Bagwell with numerous contributions by others.
They do not bite or kick like a horse. A human isn't in danger of being kicked or bitten by a properly socialized and desensitized animal. They will kick at a fly or something around their back feet, but because the foot is soft it's just not as dangerous as a horse's kick and isn't used as a primary self-defense measure.
 
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