High performance of deep learning on medical image segmentation rely on large-scale pixel-level dense annotations, which poses a substantial burden on medical experts due to the laborious and time-consuming annotation process, particularly for 3D images. To reduce the labeling cost as well as maintain relatively satisfactory segmentation performance, weakly-supervised learning with sparse labels has attained increasing attentions. In this work, we present a scribble-based framework for medical image segmentation, called Dynamically Mixed Soft Pseudo-label Supervision (DMSPS). Concretely, we extend a backbone with an auxiliary decoder to form a dual-branch network to enhance the feature capture capability of the shared encoder. Considering that most pixels do not have labels and hard pseudo-labels tend to be over-confident to result in poor segmentation, we propose to use soft pseudo-labels generated by dynamically mixing the decoders' predictions as auxiliary supervision. To further enhance the model's performance, we adopt a two-stage approach where the sparse scribbles are expanded based on predictions with low uncertainties from the first-stage model, leading to more annotated pixels to train the second-stage model. Experiments on ACDC dataset for cardiac structure segmentation, WORD dataset for 3D abdominal organ segmentation and BraTS2020 dataset for 3D brain tumor segmentation showed that: (1) compared with the baseline, our method improved the average DSC from 50.46% to 89.51%, from 75.46% to 87.56% and from 52.61% to 76.53% on the three datasets, respectively; (2) DMSPS achieved better performance than five state-of-the-art scribble-supervised segmentation methods, and is generalizable to different segmentation backbones. The code is available online at: https://github.com/HiLab-git/DMSPS.Copyright © 2024 Elsevier B.V. All rights reserved.