If you're looking for great self-improvement book that focuses on relationships (including friendships), you have to read Attached by Amir Levine and Rachel Heller.
This book has transformed my point of view on forming and maintaining relationships. It's also helped me feel more validated that having needs is not "too much," but rather completely normal and healthy.
Attached explores attachment theory. It's the idea that our attachment style is anxious, avoidant, or secure (there are variations of these, but these are the basics). For the most part, I have an anxious attachment style; basically, I'm what some people would call "needy." (I hate that word.) Intimacy is too scary for avoidant people, so they *poof* disappear because it's too much pressure for them to get close. Secure people don't have MAJOR attachment challenges themselves in relationships and are considered more patient.
The ultimate goal is to become more secure in forming or maintaining a relationship, so this book is highly beneficial for those who are anxious or avoidant, or anyone dating someone with one of those attachment styles.
Find it on Amazon here.
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