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Infantile sexuality represents the potentiality of highly diverse expressions of the sexual drive, satisfying a general tendency towards pleasure. It is at the origin of creativity. Having revisited the Freudian path, the author considers the conditions of its emergence and transformations in the treatment of adults. While the experience of satisfaction is a gain, born of the repetition of experiences, pain is present from the beginning. The author puts forward a developmental and structural model of the emergence of infantile sexuality that links the primary repression of the earliest pain with the emergence of the hallucinatory satisfaction of desire, as a first form of symbolisation of the experience of satisfaction. In the same impulsion, the ego, object and superego emerge. During maturation, this structure will be enriched, giving rise to auto-erotisms in which a gradient of objectality is identified according to the degree of recognition of the object. Infantile sexuality is a specific form of pleasure–tension in which desire coincides with pleasure, as in fantasies or dreams. While the clinical treatment of the neurotic system demonstrates the play of infantile sexuality, borderline situations raise the problem of its retroactive creation or re-creation in the treatment, with support from the analyst’s psychic organisers, Oedipus complex and primal fantasies to allow the release from a deadly libidinal co-excitation.