This chapter explores the crucial role of meaningful shared experiences in the development of autistic children, emphasizing their unique ways of organizing the world that can lead to challenges in interpersonal interactions. It proposes a cognitive framework for therapeutic interventions by examining how autistic children develop these experiences across three temporal spaces: the shared future (goals, intentions), the shared present (engaging in activities), and the shared past (autobiographical memories). The chapter stresses that while consistent experiences and emotional dialogue are vital for all children, autistic children often face difficulties in areas such as aligning intentions with others, coordinating actions in real-time, and forming coherent autobiographical memories. Drawing on concepts like event representation (scenarios) and joint intentionality, the chapter illustrates these challenges and the therapeutic approach through the case study of Roi. Strategies employed include utilizing familiar routines, sensorimotor engagement, verbal conceptualization, and tangible documentation (e.g., memory boxes/memoirs) to foster connection, predictability, and the development of a continuous sense of self. This approach aims to bridge gaps in shared meaning and support social development by weaving together experiences across time.