Background: A peer-led self-advocacy group, Our Voice SA, is used as a case study to explore how the social engagement of people with intellectual disability contributed to their self-advocacy about things that are important to them. Method: Secondary analyses of data (interviews, observations and program data) were thematically analysed using Clifford Simplican's analytical lens of "freedom through encounter". Results: Social engagement encounters in peer-led self-advocacy led to individual and group agency for freedom. The findings explore becoming known, seen, and heard; freedom to express what matters; and unfreedom: silencing self-advocacy. Conclusion: A "freedom through encounter" lens is a useful perspective on how people navigate social inclusion to participate and challenge expectations. Allies were critical for overcoming structural, interdependent barriers, and supporting capacity for leadership and rights awareness that helped elevate the confidence and skills of people with intellectual disability to speak up.