Background/Objectives: Transition from the Neonatal Intensive Care Unit (NICU) to home involves emotional adjustment and increasing parental responsibility for infant care. This study explored parents’ experiences of this transition, focusing on emotional experiences, perceived continuity of care, and support needs. Methods: A qualitative descriptive study included 38 parents representing 34 preterm or medically complex infants discharged from a single NICU in an Italian tertiary children’s hospital. Individual semi-structured interviews were conducted within 12 months of discharge, audio-recorded, and transcribed in Italian. Predominantly inductive thematic analysis examined shared meanings and variations across parents’ retrospective interview accounts. Recruitment was time-limited; neither saturation nor information power was formally assessed. Results: Four themes were developed: returning home with joy as the focus of fear changes; being with the infant and learning to provide care; remaining in contact without always feeling accompanied; and receiving support while needing space for parental distress. Joy and apprehension could coexist, with some parents describing relief or a shift from fear for the infant’s health to concerns about independent caregiving. Useful practical instruction did not always translate into feeling prepared, while continuing professional contact could coexist with gaps in coordination between services. Staff, family, and peer support were valued alongside requests for dedicated attention to parental distress. Conclusions: Parents’ accounts highlighted the importance of support responsive to individual needs throughout the transition. Priorities for service development include supported participation in care, individualized discharge preparation, coordination across hospital and community services, and access to psychological support.