Cherryl Henry-Leach from Doncaster Children's Services Trust, which runs Getting On, said it was one of the only programmes of its kind in the UK.
Families work with police, the health service, voluntary sector and council to avoid violence at home.
Ms Henry-Leach said parents were often reluctant to get help.
"They feel shame and stigma attached to being a victim of domestic abuse, while also fearing the consequences for their child if reported," she said.
The programme seeks to stop children moving from one abusive relationship to another, using a "whole-family approach" unique to Doncaster to build families' self-esteem and resilience, Ms Henry-Leach said.
Many teenagers on the programme have lived with domestic violence between parents so the project attempts to "de-normalise" abuse and help them move on to healthier relationships.
Mother and son, Anne and Luke (not their real names) from Doncaster, said the techniques derived from University of Oxford research taught them how to listen.
"There was a lot of swearing and abusive behaviour before," Anne said.  "Luke never actually hit me, but he'd go to hit me, or push me which could be frightening.
"I can now sit down and talk to my son without us shouting at each other. We can actually have a conversation without being abusive.
Luke agreed that they have a "healthier relationship."
Five Doncaster families have now completed the nine week programme, which is funded by Â£3.1m from the Department for Education's Innovation Fund.
A further six families are still on the programme.

However, the other measure of unemployment, the Labour Force Survey, rose by 0.1 percentage points to 6.2%.
That is higher than the UK unemployment rate which was unchanged at 5.5%.
The figures also show long-term unemployment in Northern Ireland is significantly above the UK rate.
Other figures show that output in Northern Ireland's service sector, the largest segment of the economy, grew slightly in the second quarter of the year.
Output was 0.5% higher compared to the first quarter of the year and 0.7% higher than the same point in 2014.
The strongest growth was in the retailing and hospitality sectors which was up 2.2% compared to the second quarter of 2014.
Analysis: BBC News NI Economics and Business Editor John Campbell
Northern Ireland's recovery has been weaker than in the UK as a whole and these figures suggest an economy which is just about growing.
The labour market picture is more complicated than just a falling claimant count - for example long-term unemployment is a real problem.
One of the more concerning factors is a slowdown in some parts of the manufacturing sector.
It has been a star performer in the last couple of years, but external factors like the strength of sterling appear to be taking a toll.
The picture was mixed in the production sector, which includes manufacturing.
Output was up by 1% over the year, but down by 1.9% compared to the first quarter of the year.
The food and drink sector is under particular pressure - output is almost 5% down compared to the second quarter of 2014.
That is likely to be related to global falls in commodity prices, particularly in the dairy sector.

The Labour-led authority said the proposals were part of a number of cuts aimed at combating a budget shortfall of £157m over the next four years.
A range of pupils, from pre-school age to young adults could be asked to pay up to £349 a year.
The move would save the authority £191,500.
Councillor Kevin Gillott, cabinet member for children and younger adults, said: "I know that at a time when families are struggling with rising costs and falling living standards people will be wondering why we are having to consider asking them to pay towards providing transport for their children.
"Sadly, we have no choice  as we're being forced by the government to make savings that mean the council will have to cut the amount of money it spends on providing services to Derbyshire families by a third."
The authority is also looking to reduce its housing-related support budget by £9m.
This would affect a range of groups, including people with learning disabilities and those at risk of domestic abuse.
The county council said it would begin its consultation on Monday.
A project aiming to tackle violence suffered by parents at the hands of their children has been hailed a success in Doncaster.
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The number of people claiming unemployment benefits in Northern Ireland fell by 1,000 in August to 42,000.
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School transport charges for students with special educational needs are being considered by Derbyshire County Council.