Weak parent–child relationships, marked by limited communication, supervision, and family involvement, are a recurring background factor among children in conflict with the law in Indonesia. This study analyzes the role of Community Guidance Officers (Pembimbing Kemasyarakatan, PK) in improving the relationship between juvenile clients and their parents as an effort to prevent reoffending, and identifies the obstacles they encounter at the Class II Correctional Center (Bapas) of Madiun. A descriptive qualitative approach was used. Data were collected through non-participant observation, semi-structured interviews with six purposive informants (two PK, two juvenile clients, and two parents or guardians), and documentation study, and were analyzed using Miles and Huberman’s interactive model with source and technique triangulation. Hirschi’s Social Control Theory and Biddle’s Role Theory served as the analytical frameworks. The findings show that PK act as educators, motivators, communication facilitators, social case workers, and connectors to social networks through education, advice, motivation, direction, open communication, parental involvement in mandatory reporting and supervision, and home visits. These efforts were followed by more open communication, closer family relationships, stronger parental supervision, and the children’s commitment to continue their schooling and not reoffend. The obstacles included parents’ physical absence due to work or distance, care delegated to grandparents, children’s reluctance to disclose problems, peer influence, and the absence of structured family counseling due to budget constraints. PK responded adaptively through regular communication, home visits, coordination with local authorities, and social networks. Family-based guidance strengthens informal social control and supports social reintegration and the prevention of reoffending.