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Psychosocially vulnerable families are those that suffer from a combination of precarious circumstances (economic, material, educational, relational, emotional). Their living environment and the stress it generates can hinder the parent-child relationship and the child’s development. In French-speaking Belgium, perinatal support services (SAP) offer these families early intervention and prevention. The SAP provide home help from the time of pregnancy, in conjunction with the local psycho-medical-legal-social network. A study was conducted with twenty-one mothers to investigate their perceptions of the SAP and their degree of satisfaction with it, given that the involvement of beneficiaries has a major impact on the results of this type of program. The qualitative analysis of the semi-structured interviews reveals the specific features of the mothers’ relationship with the SAP workers, the help provided by the service, and the difficulties they encountered. The experimental mortality rate reflects the difficulty of reaching the target audience. The study provides clinical guidelines and food for thought for their care, with a view to prevention and care for the mother-baby bond.