Background: People with intellectual disabilities have traditionally been excluded from Advance Care (AC) planning. This study aimed to improve access to and the quality of AC planning for this community. Method: A Participatory Action Research study was led, and participated in, by co-researchers with intellectual disabilities and disability service managers. A new approach to AC planning was trialled and evaluated. Results: The new approach aided the initiation and development of comprehensive AC plans with people with intellectual disabilities. The completed plans were approved by health professionals. Contributing factors related to getting started, the materials, and the process. Conclusion: The emergent framework, developed in response to the findings, provides a potential pathway for implementation and further exploration of AC planning.