Moving is an indispensable component of travelling. This paper discusses the experiences of persons with disabilities when moving around cities on foot or wheels, based on research conducted during the EU-funded project TRIPS. Findings comprise participants’ vignettes from 49 interviews in seven European cities, views on smart assistive technologies (e.g., Augmented Reality) from a pan-European quantitative survey, and design concepts related to walking based on a co-creation workshop that actively engaged persons with various types of disabilities in ideation. Findings suggest that people need reliable and clear wayfaring information on accessible travel routes featuring the coordinated design of streets, pavement, stops, stations, and vehicles to ensure seamless, step-free, and obstacle-free access, as well as disability-sensitive management of disruptions such as maintenance works, for example. Findings also suggest that users are open to using any assistive technology that can enable them to live more independently, assuming it is accessible, and are keen to co-innovate. Finally, we make recommendations for policy changes that can facilitate the redesign of urban infrastructure to make cities more accessible for people with disabilities and drive structural changes in urban planning.