In Brazil, the Ministry of Health has been encouraging change in the way teaching and learning takes place in undergraduate health programmes. One such program is the Teaching Program at the Workplace in Health (PET-Saúde). At Universidade Federal Fluminense, in Niteroi/Rio de Janeiro, we have chosen multidisciplinary groups (a tutor – professor; two students from each of the following professions/teaching programmes: medicine, nursing, nutrition, odontology, pharmacy and physical education; and six professionals from different areas in health). The objective of this chapter is to describe the experience of multidisciplinary groups as we approached teaching in an interdisciplinary way. Methodologically, we have proposed, within the PET groups, a diagnosis of that given region, with the intention of developing devices to deal with the population’s health. This study began in 2009 and has been developed in the last four years. We have had professors of different faculties teaching and coaching students of other areas such as medicine, nursing, nutrition, odontology, pharmacy and physical education. Teaching took place in service, and not in the classroom. The professional who is in practice participates in the student’s preparation while acting, caring for health system users. Professors, students and professionals have thus been working in multidisciplinary groups for training and practicing in interdisciplinary health care. Our intention is that our students’, professors’ and health professionals’ preparation is enhanced simultaneously, while health assistance is improved as well. We have concluded that the process of teaching must be understood in a participatory way, focusing on the daily work of health services. That is why it is necessary to leave the protected environment of the classrooms and aim at the world of the workplace, where professional, individual and collective behaviours and actions are consolidated. Interdisciplinarity has become an important concept in pedagogical approach in the development of our health professionals.