Participatory research, which is built on the guiding philosophy of enabling and empowering people to play an active and influential role in research that affects their lives, is an approach which can contribute to realising meaningful inclusion. Drawing on experiences gained through developing and employing participatory research methods under the Disability Inclusive Development Inclusive Futures programme, this article explores the methodological opportunities, challenges, and nuances of such an approach. It offers reflections based on the experience of undertaking research focused on inclusive education in Nigeria and Kenya, inclusive livelihoods in Bangladesh, and exploring the impact of the Covid-19 pandemic on people with disabilities across multiple countries. We analyse both successful practices from these participatory research projects and also highlight those that could have been more collaborative and inclusive. Finally, we look forward, offering reflections and recommendations to guide others who are interested in designing and delivering disability-inclusive participatory research.