In the context of palliative care, rehabilitation aims to improve quality of life for people living with life limiting illness by enabling them to be as active and productive as possible with minimum dependence on others, regardless of their life expectancy (NICE Guidance on Cancer Services 2004). Rehabilitation in palliative care comprises both the specialist contribution of physiotherapists and occupational therapists together with the interdisciplinary practice of “Rehabilitative Palliative Care.” These integrated approaches best support people living with advanced illness to participate to as full extent as possible in all aspects of their daily lives. Rehabilitation in palliative care is an important route to enable patients to preserve personhood, fulfill meaningful goals, maintain dignity, and adapt constructively to uncertainty and loss that is often intrinsic in the lived experience of advancing illness. In its simplest sense, rehabilitation in palliative care is about enabling people to live fully until they die (Tiberini and Richardson 2015).