Background: Despite the increasing longevity of people with intellectual disability, community care systems are ill prepared to support the choices of people with intellectual disabilities for ageing well. This study aims to understand ageing experiences among middle-aged adults with intellectual disabilities and their family carers with a focus on their perspectives of ageing well. Method: Interviews were conducted with 10 middle-aged people with intellectual disabilities and 12 family carers; the interview data were thematically analysed. Results: The participants highlighted the key elements of ageing well such as importance of living in a familiar place, having a reliable carer, nurturing independence, staying fit and healthy, and actively engaging in social activities. Conclusions: The findings suggest that middle-aged adults with intellectual disabilities can best age well through future planning, along with support services tailored to respond to their changing needs as they age.