This article describes an infant and early childhood mental health-informed therapeutic visitation program that offers clinical support, systems-level advocacy, and developmentally appropriate guidance to families navigating the child welfare and family court systems. The program offers treatment, permanency, and placement planning for infants, young children, and their families experiencing trauma, attachment disruption, foster care, and permanency-ambiguity. Through exploration of a programmatic theoretical framework, the authors discuss the process of identifying community gaps, garnering system support, and program design, and they also offer a summary of results from a recent program evaluation including implications for future direction.