A support structure that allows an individual, generally an infant, to be supported in a desired position and gently constrained from rolling over is disclosed. A well-defined, soft, elastic center panel or pillow is disposed and secured to two firm, slightly elastic side arms each having a height that is greater than that of the center panel. Thus, a channel is formed defined by an upper surface of the center panel and inner surfaces of the side arms. The individual can be disposed within the channel in a position, e.g., prone, and is gently constrained therein. The side arms can be cantilevers or other elongated structures providing additional support for the individual.