One billion people, or 15% of the world’s population, experience some form of disability, and disability prevalence is higher in developing countries. Infrastructure and cities are vehicles for increasing DI through the design and delivery of inclusive public services. But in order to design and deliver inclusive services it is necessary to first understand how disability manifests in these contexts. This short paper sets out all you need to know of universal design principles as a starting point for inclusive design, and provides an understanding of the non-physical barriers key to unlocking disability inclusion.