PRIMA, the PRobe Infrared Mission for Astrophysics, is a concept for a new class of NASA astrophysics missions between MIDEXs and Flagships in scope. PRIMA will address Astro2020 Decadal priorities, including: measuring the buildup of stars, supermassive nuclear black holes, dust and metals in galaxies, and tracing signatures of planet formation. I will discuss the motivation for PRIMA and the concept, touch upon a few science topics, and describe our community engagement activities and opportunities for participation.