A bis-urea-functionalized pillar[5]arene has been synthesized and shown to form [2]pseudorotaxanes spontaneously with linear alkyl dicarboxylates in highly polar solvent DMSO, in which the hydrogen bonding interactions between the bis-urea hydrogens and dicarboxylate oxygens play an important role in stabilizing the novel [2]pseudorotaxanes alongside C-Hπ interactions.