In her memoir Rachel in the World, Jane Bernstein writes about the formidable obstacles of raising a disabled daughter into adulthood.

In the book, a follow up to her previous memoir Loving Rachel, Bernstein shares the frustrations and unexpected pleasures she has found in the most challenging role a parent can face: finding a place for her daughter first in her family, and then in the wider world.

Rachel and her mother are the subjects of the documentary film Rachel is, which debuts on PBS World Channel’s “America Reframed” Tuesday, May 6 at 8pm ET/7pm CT.

The film, which screened at this year’s Sundance Film Festival, is directed by Rachel’s sister Charlotte Glynn.