Be willing to be on the scouts first few outings at a bare minimum. Being involved in leadership is a rewarding way to help empower and bond with your scout as well as being an advocate for them. Many times a scout just knowing you are around will allow them the personal security is close at hand. This helped with us early in the Boy Scouting experience.
If you have any other suggestions, let us know. You can e-mail me at firstname.lastname@example.org or leave a message on the Facebook page Autism and Scouting.