All the ingredients needed to complete the task
Ice 9 cupcakes (optional) like this, leaving one not iced for the bottom of the head/start of the body.
Configure the cupcakes so it looks like this (the caterpillar body)
Add the lollies for the face and begin to put all the sour worms on as the legs.
Finish the legs and the final details on the face
Add the two lollipops as the antennas
Add dyed shredded coconut for presentation
Final product - enjoy :)