Despite the growing interest in rehabilitation of the critically ill, limited consideration has been given to the role of the family in this process. Family members remain an underutilized resource in the healthcare system. If we improve engagement of families in rehabilitation across the transitions of care, it may provide benefits to not only the family and patient, but also staff, and the healthcare system. Benefits may include redirecting family psychological distress into an active participatory role, humanizing the patient illness and recovery experience, and supporting staff and healthcare system beyond the constraints of therapy time that clinicians can provide. This chapter explores the theoretical underpinning of family engagement, reviews prior literature, and provides pragmatic clinical strategies to better engage families in contributing to rehabilitation at the bedside in ICU.