From the analysis of the historical construction trajectory of social policies for children, adolescents and families living in poverty in Brazil, this paper discusses the right to family and community life in the context of institutional care for children and adolescents. Therefore, three municipal services located in the same city were investigated. Semi-structured interviews with coordinators and professionals were conducted, as well as participant observation. The produced data were systematized and organized in the following categories: (1) General characteristics of the institutions, (2) Public attended, (3) Work with families, (4) Community Living, (5) Articulation with other institutions, and (6) Reflecting about the right to family and community life. The data analysis was based on dialectical historical materialism. The units operate in the institutional shelter model, and children and adolescents received are distributed according to their age and groups of siblings. The families attended are characterized by experiencing poverty, low education, drug use, family violence, among other difficulties. Thus, the social work seeks to overcome these problems and to strengthening family ties, so the child can return to family living. The contact between kids and families is maintained, as well as the community living. Finally, the articulation with other institutions shown to be essential for the resolution of cases. The results show that, despite some difficulties and limitations, the services studied are seeking consistent attitude with the paradigm established by the Child and Adolescent Statute and the National Plan for Family and Community Life, aimed at overcoming exclusionary practices of social coexistence and respect for legality. However, advances are still needed for the effective guarantee of the right to family and community life.