The invention disclosed herein is a novel Home Lift Position and Rehabilitation (HLPR) apparatus designed to provide stable movement along several critical axes of motion including lift capability. The HLPR apparatus is capable of moving along a desired floor path (“x-axis”), moving on a vertical axis to lift a patient (“z-axis”), rotating the HLPR apparatus itself (along an “outer rotational axis”), and rotating a patient within the HLPR apparatus while the HLPR apparatus itself remains stationary (along an “inner rotational axis”). The telescoping, double-nested C-frame structure of the HLPR apparatus and pivot assembly allow any patient support structure known in the art to be suspended securely and to move in a stable, torque-resistant manner to assist patients in rehabilitation and in independently performing activities of daily living.