Not all infants have an optimal start in live, for example because their parents live under challenging circumstances. A prenatal home-visit could signal these problems and provide opportunities to improve these circumstances or diminish their impact. With the intention to improve the circumstances in which an infant is born. For this prenatal home-visit, multiple professionals and organizations have to collaborate with each other and the family. This action-research investigated the benefits and barriers, as well as the needs of professionals and families regarding this home-visit. We collected data based on literature, interviews with families and professionals, questionnaires, and observations. Furthermore, a team was put together with individuals from the medical (birth-related) field, the social domain and families. This team met several times during the study to brainstorm about possible improvements, to experiment with these suggestions and to evaluate their effect. In this manner, the collaboration between multiple professionals and families regarding the prenatal home-visit was improved in an ongoing process.