This chapter presents a decade-long case study of dyadic therapeutic intervention with Ori, a young boy diagnosed with high-functioning autism spectrum disorder (ASD), and his parents. Drawing on Greenspan and Wieder’s developmental individual-difference relationship-based (DIR) model, the therapy aimed to decipher Ori’s emotional world, enhance parent–child communication, establish secure attachment, and expand his self-reflection. While initially focusing on the parent–child dyad, the treatment flexibly shifted to primarily individual therapy for Ori in later years, always maintaining parent involvement and ongoing connection with educational settings. Key therapeutic themes included coping with anxieties and fears, navigating identity between belonging and loneliness, and the significant role of an imaginary character, Hannah Zelda/Sheindel. Hannah Zelda served as a unique therapeutic partner, enabling Ori to express challenging emotions and gain a different perspective. This integrative, long-term intervention highlights the profound developmental capabilities of children with ASD through collaborative work, fostering Ori’s growth into a sensitive, functional young adult who actively finds his place and continually discovers new abilities. The case underscores the success achievable through cooperative, flexible therapeutic partnerships.