Both the phenomeno-structural psychopathology and the peripatetic therapy, also known as therapeutic accompaniment, still are barely known by health professionals and students. This present work offers not only a highly accessible theoretical discussion to beginners in phenomenology, but also proposes a new perspective in phenomeno-structural psychopathology to the most experienced readers. After discussing the history of this therapeutic work, from its original designation as psychiatric accompaniment and qualified friend to the prevailing therapeutic accompaniment (as it is commonly translated into English nowadays) and its current implications, this present work also confers a historical summary and the necessary clinical principles that guide the therapeutic work in the “ambulant clinical setting”. This present work exhibits and describes completely the peripatetic therapy in the group process, from the planning and execution to its conclusion, allowing the reader him or herself to measure the clinical results that were described. Besides, the book discusses the therapeutic process of a specific patient with more details about the treatment and its repercussions, both to the patient and the therapist.