The feelings of middle-aged fathers about their experience of childcare was investigated. Research has shown that a fathers' involvement affects numerous aspects of a child's development. However, it is still unclear how fathers are involved in raising their children and how they perceive their experience of childcare. Semi-structured interviews were conducted with 20 middle-aged fathers who have young adult children. The results showed how the fathers become more emotionally mature through their experience. The fathers “have role models of a father” before becoming fathers themselves. However, they “have little time” to spend with their children because of their job. They tried to get involved in parenting by “balancing with their wives” for a short time. When they gradually “get around” to “interacting with their children,” they “take action for their children” and “learn many things from their children.” They gradually perceive “their children as companions” as they get older. They “develop a close partnership with their wives” at the same time. Finally, they expressed that they matured through “the interaction with their wives and children.”