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As a key feature, NASA's Parker Solar Probe (PSP) and ESA-NASA's Solar Orbiter (SO) missions cooperate to trace solar wind and transients from their sources on the Sun to the inner interplanetary space. The goal of this work is to accurately reconstruct the interplanetary Parker spiral and the connection between coronal features observed remotely by the Metis coronagraph on-board SO and those detected in situ by PSP at the time of the first PSP-SO quadrature of January 2021. We use the Reverse In-situ and MHD Approach (RIMAP), a hybrid analytical-numerical method performing data-driven reconstructions of the Parker spiral. RIMAP solves the MHD equations on the equatorial plane with the PLUTO code, using the measurements collected by PSP between 0.1 and 0.2 AU as boundary conditions. Our reconstruction connects density and wind speed measurements provided by Metis (3-6 solar radii) to those acquired by PSP (21.5 solar radii) along a single streamline. The capability of our MHD model to connect the inner corona observed by Metis and the super Alfvénic wind measured by PSP, not only confirms the research pathways provided by multi-spacecraft observations, but also the validity and accuracy of RIMAP reconstructions as a possible test bench to verify models of transient phenomena propagating across the heliosphere, such as coronal mass ejections, solar energetic particles and solar wind switchbacks.