Anticipatory guidance (AG) is a cornerstone of preventive pediatric health care, emphasizing proactive, age-appropriate counseling to prepare parents and caregivers for children’s upcoming developmental, behavioral, and health-related changes. In pediatric dentistry, AG plays a critical role in preventing early childhood caries, promoting healthy oral habits, reducing traumatic dental injuries, and establishing the concept of a dental home early in life. This scoping review aims to map the existing literature on anticipatory guidance with a particular focus on pediatric oral health, prenatal counseling, infancy, early childhood, and special health care needs. The review also identifies key domains of AG, historical evolution, clinical applications, and challenges to implementation. By synthesizing evidence from guidelines, policy documents, and empirical studies, this review highlights the importance of anticipatory guidance as an effective preventive strategy and underscores gaps for future research and clinical practice.