This paper presents an original multidisciplinary approach to supporting parents of persons with sensory and motor disabilities. This approach stems from an initiative put in place by a team of nurses, psychologists, midwives and specialized birthing instructors and aims to offer support to parents from conception to 7 years of age. Our work is based on almost ten years’ experience with children followed from birth, approximately 120-150 users yearly. We emphasize the discovery of children’s ability to cope with their parents’ disabilities (abilities that we call relational bilingualism) and on the mobilization of parents’ potential in seeking approaches well suited to their particular situation. However, this is not intended to illustrate simple technical facilitators but rather to facilitate the inclusion of these original mothering techniques into comprehensive care. We illustrate our discussion of case studies and finish with lessons learned for all families where one parent has a disability.