The parent-child relationship, apart from the child, has a significant impact on the parent's functioning and self-concept. Considering the significant number of autistic parents in the population and the extremely small number of participatory research with autistic people, the goal of this thesis was to gain insight into the experience of relationships with children, that is, to find out what significance the parent-child relationship has for autistic parents, as well to find out what is their experience of support in building and maintaining relationship with their children. Participants of this research are seven autistic mothers who also participated in defining goals of the research and preparation of interview questions. This paper presents a qualitative research in which data was collected through semi-structured interviews conducted live or online. The analysis of obtaining data gives information about how autistic parents see their relationship with children, as well about the autistic parents' perception on the impact of external factors on the parent - child relationship, and also about the experience of support. It has been shown that autistic parents experience the relationship with their children a good quality and fulfilling, but also demanding and exhausting, and they talk about the impact of the relationship on their personal growth. Also, the analysis gets information about the contribution of mother’s and child’s getting diagnosis to better understanding themselves and their children. The results of this research state about better understanding of child’s needs and better communication as advantages, and about differences between a mother and a child as challenges in parent-child relationship. Likewise, the data analysis emphasizes the importance of support for autistic parents in relationship with their children, as well the problem of its lack, and also the need of providing the support in relationship with children.