Children with Attention Deficit and Hyperactivity Disorder (ADHD) experience a deficit in cognitive processes responsible for goal-directed behaviors, known as executive functioning (EF).In an effort to assist them, we developed TangiPlan -a prototype of a tangible assistive technology intended to improve EF during morning routines. TangiPlan was designed based on the following guidelines: implement intervention techniques recommended by experts; reduce conflicts with caregivers; avoid intrusion; support flexibility and autonomy. These design guidelines were implemented in a prototype consisting of six tangible objects, each representing a task that needs to be completed during a child's morning routine, and a tablet application for planning tasks and matching them with objects. An initial evaluation of the prototype with two case studies resulted in improved organization and time management, increased satisfaction, and fewer conflicts with parents during morning routines.