More adolescents and young adults living with HIV are surviving into adulthood. As a result they must transition from pediatric health services to HIV self-management and adult care. This change is particularly important as many young people have poor adherence to treatment, leading to low rates of viral suppression and a greater risk of HIV-related mortality. Project SOAR is piloting Project YES! Youth Engaging for Success, a peer mentorship initiative that strengthens the capacity of health systems and families to support youth in taking greater responsibility for their own healthcare while planning for their future. The project builds upon the idea that young people living with HIV who have successfully transitioned to self-management and adult care are uniquely suited to encourage their peers to do the same.