The article addresses clinical, neurodevelopmental, and psychological experiences of pregnant parents to build the case for shifting therapeutic approaches to promote the earliest possible connections between parents and their infant. The article emphasizes the rationale for therapeutic interface with families in pregnancy as it relates to stress reduction, behavioral changes, and protective factors for the fetus. Using home visiting as a service model, we focus on the relationship-based nature of the work, challenges, successes, priorities, and strategies for engaging parents in behaviors and activities that promote infant/parent mental health during pregnancy and early infancy.