The practice and theory of community-based inclusive development (CBID) are significantly influenced by peoples’ livelihoods. However, existing responses from policy makers, communities, and academics that dominate disability policy discussions often exclude the knowledges and lived experiences of diverse people living with disabilities. By taking a livelihoods approach to understand the everyday/every night lives of diverse peoples, we explore a different way of articulating community-based inclusive development (CBID) in this chapter. Using empirical evidence from collaborative research conducted with diverse people with disabilities in Canada as part of the Disability and Livelihoods in Canada project, this chapter will share three cross-cutting characteristics of meaningful inclusion within CBID, including the involvement of civil society organizations and community members in setting the agenda of community-based development aims; the importance of a sense of belonging for disability inclusion; and the belief in community as a source of expertise in development. We conclude by presenting recommendations for what mobilizing these cross-cutting characteristics can look like in practice.