 After the first HIV care visit, participants will return to the Wood Clinic for a baseline interview and randomization into one of the two study arms PN or treatment as usual. Investigators modeled the peer navigation intervention after several HIV prevention trials that aimed to assist high-risk individuals in overcoming logistical barriers to receiving social services and medical care. Peer Navigators will be part-time employees of the study, hired through Johns Hopkins School of Public Health JHSPH Human Resources procedures, and will work approximately 10-15 hours per week, meeting study participants in person or by phone to discuss strategies to remain engaged in care and overcome logistical challenges encountered in the health care system. Persons living with HIV who have successfully navigated the health care system and who are receiving ongoing HIV care will be encouraged to apply, but HIV-positive status will not be a requirement of the position. 