When the Westphal family learned that their 6-year-old Kyle was on the Autism spectrum, they feared they might never develop a real connection. Withdrawn and wrapping himself in fabric and blankets, Kyle was retreating from the world around him. Determined to find a way to connect, his parents embarked on an intense and radical journey that involved compassionately joining Kyle in his unique behaviors. Twenty years later, the entire family looks back at Kyle's journey with candor and humor.