PurposeIn this proof-of-concept study, the authors assessed the feasibility of using a humanoid robot controlled remotely via an immersive telepresence system to support a person with intellectual and motor disabilities performing a daily task (i.e. setting a table for lunch).Design/methodology/approachThe system involved a head-mounted display and two joysticks. A teleoperator was able to see through the video cameras of the robot and deliver the instructions verbally to the participant located in a different room. To assess the system, a baseline phase (A) was followed by an intervention (i.e. tele-operated support) phase (B) and a return to a baseline phase (A).FindingsData showed a marked increase in the average frequency of task steps correctly performed from baseline (M = 15%) to intervention (M = 93%). Accuracy reached 100% in the return to baseline.Originality/valueThese preliminary findings, along with qualitative feedback from users, suggest that an immersive telepresence system may be used to provide remote support to people with intellectual and motor disabilities.