Background: Amongst the growing number of examples of inclusive dance programming, community-informed recommendations for inclusive dance are scarce. Our purpose was to develop recommendations for inclusive dance with dancers with the lived experience of autism, intellectual, or developmental disability, and the professionals who work with them. Method: A Hybrid-Delphi method was used to generate and rank recommendations across three expert groups. The constraints model of motor development and the social model of disability framed three questions around: (i) physical environment and culture, (ii) instruction and strategies, and (iii) dance assistants. Results: The experts (Community; dancers, support persons/carers (n = 5), Rehabilitation (n = 6) and Dance (n = 7) professionals) agreed to prioritise the community perspective, highlighting the need for ongoing education around inclusive instruction, communication, and sensory considerations. Conclusions: The centring of community perspectives facilitated the development of a comprehensive list of actionable recommendations to guide inclusive dance instruction in a variety of dance spaces.