A stochastic theory is formulated for the sticking probability of a projectile scattered from a surface. The theory is then explored by applying it to a generalized Langevin equation model of the scattering dynamics. The theory succeeds in describing the known features of trapping on surfaces. At low energies sticking will occur only if there is an attractive interaction between the projectile and the surface. The probability of sticking at low energies is greater the lower the temperature and the deeper the attractive well of the particle as it approaches the surface. The sticking probability in the absence of horizontal friction tends to be lower as the stiffness of the surface increases. However, in the presence of horizontal friction, increased stiffness may lead to an increase in the sticking coefficient. A cos(2)(theta(i)) scaling is found only in the absence of corrugation and horizontal friction. The theory is then applied successfully to describe experimentally measured sticking probabilities for the scattering of Xe on a Pt(111) surface.