Pediatric urologists are keen to the idea of limiting surgical incision footprint. To date, the da Vinci SP® Surgical System (Intuitive Surgical, Inc., Sunnyvale, CA) has been used sparingly in pediatric patients. Reasons for limited adoption include decreased availability at pediatric-specific centers, the distance required from target anatomy, and the learning curve of adapting from the multi-port approach. Here, we describe a transperitoneal approach with the da Vinci (SP) that can be adapted in pediatric patients for renal and ureteral surgery. The approach utilizes a “floating dock,” from which the robot cannula is docked outside a patient’s body and the instruments are deployed outside the body before directing inside the peritoneal cavity. This technique serves to increase the distance from the cannula to the target anatomy, making instrumentation more facile. Notably, the approach utilizes a single, 3 cm incision overlying the pubic tubercle. From this perspective, the surgeon works “up” toward the upper tract. For the patient, the incision is completely concealed by pubic hair and undergarments. In our experience, this approach works well for robotic upper tract reconstruction (e.g., pyeloplasty, proximal ureteroureterostomy) in children 4–5 years and older due to size limitations in younger children. The approach is optimal for older adolescents and teenagers who are interested in single, concealed incisions. Ideal applications of this approach include robotic upper tract reconstruction or extirpation with combined open lower tract reconstruction or extirpation where the same 3 cm incision can be utilized for the robotic and open portion. Modifying the techniques described here for a retroperitoneal approach to the upper tract is a next step in evolution of this technique.