The charity hopes the guide will be used by counsellors, social workers and health professionals working with families with disabled children, to help strengthen relationships.
More than 2,000 parents of disabled children were surveyed by Contact a Family and relationship charity One Plus One, to inform the guide.
Parents said the major problems their relationships faced were stress, tiredness or financial difficulties, and many said these were tied to the additional pressures of having a disabled child.
Jill Harrison, external affairs director at Contact a Family, said: "More than half of parents report problems in their relationship after having a disabled child."
The guide covers intimacy, family relationships, domestic violence, relationship pressures and support networks.
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