This study examines intergenerational relations among middle-aged unmarried adult children co-residing with their parents in Taiwan. Using a qualitative approach, in-depth interviews were conducted with five participants aged 40 to 55, all of whom had lived with their parents for more than five years in central and southern Taiwan. Interview transcripts were analyzed through thematic analysis, and three major themes were identified. First, filial piety and its practices included (1) emotional attachment and family belonging, (2) the implicit expectation of assuming caregiving roles as unmarried co-residents, and (3) the influence of parents’ interpretations and transmission of filial norms. Second, family experiences during midlife encompassed (1) resilience amidst efforts and exhaustion, (2) emotional regulation and professional positioning through conflict-avoidance strategies, and (3) cross-generational responsibilities and coordination of life roles. Third, intergenerational relationships under co-residence involved (1) emotional support and unequal gendered divisions of care, (2) value tensions and role conflicts within the family, and (3) processes of adaptation, compromise, and the remedial role of institutional resources. These findings highlight the interplay of cultural values, midlife challenges, and structural conditions in shaping intergenerational dynamics of unmarried adult children living with their parents.