In this book, a succinct description of the main models and approaches to disability is provided. A theoretical analysis of the different models developed to understand disability is outlined. We also provide our definition of social inclusion as the interaction between interpersonal relationships and community participation. This is an ecological model that includes individual, interpersonal, organisational factors, along with community, and socio-political factors. A series of processes and tools that can be used to design and implement interventions for vulnerable groups that promote participatory approaches and social inclusion are described. As a series of key indicators for assessing if a practice can be considered socially inclusive. The last section of the book describes three practical case studies, including the process of implementation and the lessons learned.