In At Heaven's Door, end of life therapist William Peters explores the profound phenomenon of "shared crossing" experiences, moments in which people report accompanying loved ones partway into death. After having his own out of body experience with a dying patient in 2000, Peters spent two decades collecting and analyzing similar accounts from around the world. These stories, marked by vivid sensory details and deep emotional resonance, offer comfort, healing, and insight into what may lie beyond death. Combining personal narratives with thoughtful research, Peters reveals how these experiences can ease grief, foster reconciliation, and help us live and die with greater peace.