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Abstract Abstract Everyone should have the right to choose to access, express, and experience sexuality in a way that is meaningful and positive for them—however, for people with disabilities, societal stigma can lead to the denial of this right. People with disabilities are sexual beings and have the right to make decisions about their own sex lives, should be presumed able to consent to sexual activity, should receive appropriate and accessible sexual education, and should have access to sexual and reproductive healthcare from professionals who are disability competent and knowledgeable about sexual and reproductive health for people with disabilities. This chapter, rooted in sexual citizenship—one’s right to the autonomy to make decisions about one’s sex life—takes a sex-positive approach to sexuality and disability. It addresses the importance of sexual education and rehabilitation that is designed for inclusion and responsive to individual needs. It then explores consent as it relates not only to sexual activity but also to medical settings and sexual and reproductive health. This is followed by an in-depth exploration of sexuality for people with particular types of disabilities (physical disability, chronic disease, behavioral and emotional disability, intellectual and/or developmental disability, and sensory disability). The chapter closes by addressing the importance of professionals maintaining a sex-positive attitude, facilitating open and honest communication, and respecting many forms of sexuality.