In this paper the authors describe the Anni Bergman Parent-Infant Program (ABPIP), with a focus on the development of the Home-Visiting Project (HVP) begun in 2014 in New York City. This primary prevention project provides psychoanalytic, relationship-based clinical intervention to mothers and their infants struggling with multiple stressors caused by poverty, histories of trauma, single parenthood, lack of employment, and limited access to health care and food. The beginnings of the project are described, including the centrality of infant observation as a port of entry into the subsequent dyadic therapy approach. Three clinical vignettes of the first mother-infant pair with whom we worked illustrate the beginnings of the treatment model that we developed. Both authors visited the mother and infant pair on a weekly basis for three years. Thinking and working together helped to create a template for the outreach project, the intervention approach, and informed further plans to expand the project and to include additional therapists and referral sources.