Riverine flooding has frequently caused loss of life, societal disruption, and property damage in Puerto Rico. The island's tropical climate produces intense storms with high amounts of rainfall, which, when combined with its rugged topography, can lead to rapid surface runoff and elevated streamflow that often overflows riverbanks. Many municipalities are located near rivers, which further heightens the risk of community flooding. These threats are projected to worsen with increasing frequency and intensity of tropical storms. Despite these recurring challenges, there is a lack of data tools and communication delivery systems that can inform emergency responders and municipal planners about real-time and projected flood levels in vulnerable communities. This study presents a pilot effort to develop riverine Flood Inundation Mapping (FIM) for two municipalities in Puerto Rico: Comerio and Caguas. The project benefits from collaboration across various organizations in Puerto Rico, including social scientists who have helped ensure that the FIM products are culturally appropriate and increase community awareness of flood risk. These maps can be a valuable resource for emergency responders and urban planners, supporting efforts to mitigate flood risks in Puerto Rico.