This chapter presents a case illustration of the development of relationships when an infant/toddler with autism spectrum disorder presents with underlying neurological differences that interfere with overall development and appropriate social interaction. The vignette demonstrates the possibility of minimizing the impact of the autistic condition through integration of child–parent psychotherapy and DIR®/Floortime™, a child-centered developmental/relational intervention. Additionally, this text provides practitioners with guidelines that can be used to provide crucial early intervention to the family by supporting caregivers’ increased understanding of the individual profile of their baby, helping parents gain empathy for their child’s challenges, and helping parents learn how to draw their child into social play that is critical as a model for future developmental success.