High-quality, patient-centered antenatal care (ANC) is critical for maternal and newborn survival and well-being. Yet, in Kenya, less than half of women complete four or more ANC visits, long recommended by the World Health Organization, and deliver with a skilled birth attendant. Traditional one-on-one ANC, the standard of care in Kenya, often does not meet women’s and adolescents’ needs for information, support, and high-quality clinical care.