Pillar Care Continuum (formerly Cerebral Palsy of North Jersey) was founded in 1953 by the parents of children with cerebral palsy who wanted better services for their loved ones. They operated from donated space in the basement of Orange Memorial Hospital.
In 1976, the agency established Horizon School in East Orange, New Jersey to serve students with multiple disabilities.
The school relocated to a more spacious facility in Livingston, New Jersey in November 2000. The new site led to a rapid growth in enrollment and the agency opened Horizon High School in 2005.
In 2019, the agency rebranded as Pillar Care Continuum and the schools rebranded as Pillar Elementary School and Pillar High School.