“Back to sleep” messages can reduce prone practice for infants, with potential for motor delay and cranial deformation. Despite recommendations for “tummy time,” young infants fuss in prone, and parents report uncertainty about how to help infants tolerate prone positioning. We hypothesized that a Child'Space Method lesson, teaching proprioceptive touch and transitions to prone, would facilitate prone tolerance, parent behavioral support, and parent self‐efficacy. This randomized study recruited parents (N = 37) of 2‐ to 5‐month‐old infants. On two visits, parents answered questions about infant behavior and parent experience, and played with their infant. Lesson group parents had the lesson following the first free play. One week later, lesson parents reported that infants tolerated more prone time and that parents showed more supportive behaviors in bringing infant to prone, as compared to waiting parents. Lesson parents’ efficacy, and infant behavior during play, trended in the hypothesized direction. The study demonstrated how a lesson in preparatory touch, and gradual transitions, promoted infant prone tolerance and also parent support of rolling, side‐lying, and prone positioning. The lesson could be incorporated in parent education and early pediatric visits, helping infants and parents negotiate the prone challenge and setting the stage for further parent support of infant development.