The present longitudinal study tested for the role of perceived parental autonomy-support and late adolescents' self-worth in their intimacy development. A sample of 497 Belgian late adolescents (Mage = 17.9, 43.5% girls) participated in this two-wave study. Results indicated that perceived autonomy-supportive parenting did not relate significantly to change in adolescents' experienced intimacy (in terms of closeness and mutuality), but was associated with a decrease in unmitigated agency (an excessive focus on the self) and unmitigated communion (an excessive focus on the other) across time. Adolescents' self-worth predicted an increase in experienced intimacy and a decrease in unmitigated agency and communion, and the initial level of experienced intimacy predicted an increase in self-worth. Finally, results suggested that adolescents' self-worth may mediate some of the longitudinal relations between perceived parental autonomy-support and adolescents' intimate functioning. No evidence was found for moderation by romantic involvement, gender or age.