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If \\(| d\\log r|_{g}= | dr |_{\\bar{g}}= 1\\) on \\( \\partial M\\) (equivalent, that the sectional curvature \\( K_{g}\\) uniformly tends to \\(-1\\)), then \\((M^{n}, g)\\) is said to be asymptotically hyperbolic (AH, for short). For two \\(\\mathcal{C}^{2}\\) conformally compact AH manifolds, \\((M^{m+1}, g)\\) and \\((N^{n+1}, h)\\), where \\(m, n \\geq 1\\) and for any boundary map \\(f \\in C^{0}(\\partial M,\\partial N )\\), consider \\(\\mathcal{M}_{f}=\\{ u \\in C^{0}(\\bar{M}, \\bar{N}) | u \\text{ maps } \\partial M \\text{ into } \\partial N \\}\\). If \\(\\mathcal{M}_{f}\\) is nonempty, each of its connected components is called a relative homotopy class. Under the assumptions \\(|\\mathrm{Ric}(g) + ng |_{g} =o(r)\\) as \\(r\\rightarrow 0\\) and \\(h\\) has a nonpositive sectional curvature, and if \\( u_{0} \\in C^{1}(\\bar{M}, \\bar{N}) \\) satisfies \\(u_{0}(\\partial M) \\subset \\partial N\\) and \\(f=u_{0}| \\partial M\\) has nonwhere vanishing differential \\(df: T\\partial M \\rightarrow T\\partial M\\), the authors prove the existence and uniqueness of a proper harmonic map (tension field \\(\\tau (u)=0\\)) \\(u \\in C^{1}(\\bar{M}, \\bar{N}) \\cap C^{\\infty}(M, N) \\) within the same relative homotopy class. This theorem is an extension of results proved by \\textit{P. Li} and \\textit{L.-f. Tam} [Indiana Univ. Math. J. 42, No. 2, 591--635 (1993; Zbl 0790.58011)] and regarded as the non-compact version of the result of \\textit{J. Eells jun.} and \\textit{J. H. Sampson} in [Am. J. 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