The mediating role of parental satisfaction in the relation between family involvement in early intervention service planning and parental self-efficacy was explored. Participants included families of children with disability or delay involved in early intervention (n = 2586). Data were examined upon entry into early intervention (T1) and at conclusion of early intervention (T2). Structural equation modeling was used to predict parental satisfaction (overall satisfaction and satisfaction with providers) at T2 and parental self-efficacy at T2 from family involvement in service planning at T1. Results suggest that family involvement in service planning was significantly and positively associated with both measures of satisfaction. Satisfaction with service providers mediated the relation between family involvement and parental self-efficacy such that more family involvement led to increased satisfaction, which in turn was related to higher reports of self-efficacy. Findings are discussed in terms of the importance of families' initial involvement in service planning and satisfaction with parent-provider relationships.