Baby 8mos has been pushing up on all fours & rocking back & forth for 2mos, he does this for 10 min or so then starts whining then cry if not pick up?
Probably normal. He is probably wanting to get up and move! rocking is often sign of a desire to get moving, even if the rest of the baby is not quite ready. After he does it for a while he is probably tired and frustrated, thus the desire to be held.
Take pictures. Clearly he wants to get around, but hasn't quite figured out the crawling thing yet. Crawling is typically a 9 to 12 mo skill, so it's in the ball park. Especially if he can scoot around a bit, or army crawl and roll. Take video of it, and laugh yourself silly after he goes to bed or when he's a teenager.