In this book, I suggest that our communities need better planning to be safely and easily navigated by people with mobility impairment and to facilitate intergenerational aging in place. This requires us to think of mobility impairment and inclusive design as land use and planning issues in addition to understanding them as matters of civil and constitutional rights. Although much has been written about the rights of people with disabilities, little has been said about the interplay between disability and land use regulation. This book undertakes to explain mobility impairment, as one type of disability, in terms of planning and zoning. It is written with the hope that a better understanding of disability in terms of planning and zoning will facilitate more cooperative engagement between disability rights advocates and land use professionals and that this in turn will lead to improved community planning for accessibility and aging in place. In this regard, the book offers a new perspective because there has been very little challenge to the exclusivity of the civil rights paradigm in thinking about disability