Applied Behavior Analysis (ABA) is the branch of behavior science focused on solving problems of social significance. For over six decades, ABA researchers and practitioners have sought to improve the lives of people with intellectual and developmental disabilities (IDD) through application of evidence-based supports. Influenced by the disability rights movement which gained momentum in 1970s and 80s, the field of ABA has developed an array of procedures to enhance autonomy and choice of people with IDD. These include assessing individual preferences, teaching choice making, augmentative and alternative communication, and techniques for supporting greater self-control. We present behavior analytic definitions of autonomy and choice, illustrate how each of these strategies enable greater autonomy and choice of people with IDD, and discuss unresolved issues and future directions.