Background: Direct maternal deaths are mostly caused by obstetric complications. Several programs have been carried out to reduce the incidence of pregnancy and childbirth complications. However, the implementation of the program has not been maximized. Community empowerment is needed to ensure the sustainability of the program. Objective: Therefore this study was carried out for Model Modification of Participatory Community Asset Development Research in Action (YUDHIA). Methods: This research was conducted with a mixed-method approach. The construction model was carried out qualitatively, with forum group discussion and in-depth interview toward four key informants and thirteen supporting informants. Then conducting model development quantitatively using a cross-sectional study on 80 respondents, and analyzed by using SEM PLS. After the model was formed, the test was implemented to 83 respondents by using pre and post-test design. The application of the YUDHIA Model in the community is carried out by assisting the model using the YUDHIA Module. Results: The construction shows that the YUDHIA Model can be constructed by five variables, namely the development of community assets, community participation, knowledge, attitudes, and behavior. Then the validation is done and the results are obtained that all the variables are valid in forming the YUDHIA Model. The YUDHIA assistance model is statistically proven to be able to improve knowledge (p 0.000), attitudes (p 0.000) and behavior of the pregnant mothers (p 0.000) compared to before getting assistance. Conclusion: The YUDHIA model consists of five forming variables and this model has proven effective in increasing the knowledge, attitudes, and behavior of pregnant mothers towards the prevention of pregnancy and childbirth complications.