The fossilized traces of burrowing worms have taken on a considerable importance in studies of the Cambrian explosion, partly because of their use in defining the base of the Cambrian. Foremost among these are the treptichnids, a group of relatively large open probing burrows that have sometimes been assigned to the activities of priapulid scalidophoran worms. Nevertheless, most Cambrian burrows have an uncertain progenitor. Here we report a suite of exceptionally preserved trace and body fossils from sandstones of the lower Cambrian (Stage 4) File Haidar Formation of southern Sweden that can unequivocally be assigned to a scalidophoran producer. We further present the first burrow casts produced via actualistic experiments on living priapulids, and demonstrate the remarkable morphological parallels between these modern and Cambrian fossil equivalents. In addition, co-occurrence of scalidophoran-derived cuticular remains permits a unique synthesis of evidence from trace fossil, body and organic remains. Comparative analysis of these exceptionally preserved fossils supports a scalidophoran producer for treptichnids and by extension suggests a latest Ediacaran origin of the ecdysozoan clade.