This paper considers a challenging communication scenario, in which users have heterogenous mobility profiles, e.g., some users are moving at high speeds and some users are static. A new nonorthogonal multiple-access (NOMA) transmission protocol that incorporates orthogonal time frequency space (OTFS) modulation is proposed. Thereby, users with different mobility profiles are grouped together for the implementation of NOMA. The proposed OTFS-NOMA protocol is shown to be applicable to both uplink and downlink transmission, where sophisticated transmit and receive strategies are developed to remove inter-symbol interference and harvest both multi-path and multi-user diversity.Analytical results demonstrate that both the high-mobility and low-mobility users benefit from the application of OTFS-NOMA. In particular, the use of NOMA allows the spreading of the high-mobility users' signals over a large amount of time-frequency resources, which enhances the OTFS resolution and improves the detection reliability. In addition, OTFS-NOMA ensures that low-mobility users have access to bandwidth resources which in conventional OTFS-orthogonal multiple access (OTFS-NOMA) would be solely occupied by the high-mobility users. Thus, OTFS-NOMA improves the spectral efficiency and reduces latency. generally allocated more transmission power and the other user, referred to as the 'strong user', is allocated less power. As such, the two users can be served in the same time-frequency resource, which improves the spectral efficiency compared to orthogonal multiple access (OMA). In the case that users have similar channel conditions, grouping users with different QoS requirements can facilitate the implementation of NOMA and effectively exploit the potential of NOMA [6]-[8]. Various existing studies have shown that the NOMA principle can be applied to different communication networks, such as millimeter-wave networks [9], [10], massive multiple-input multiple-output (MIMO) systems [11], [12], visible light communication networks [13], [14], and mobile edge computing [15]. This paper considers the application of NOMA to a challenging communication scenario, where users have heterogeneous mobility profiles. Different from the existing works in [16],[17], the use of orthogonal time frequency space (OTFS) modulation is considered in this paper because of its superior performance in scenarios with doubly-dispersive channels [18]- [20].Recall that the key idea of OTFS is to use the delay-Doppler plane, where users' signals are orthogonally placed. Compared to conventional modulation schemes, such as orthogonal frequency-division multiplexing (OFDM), OTFS offers the benefit that the time-invariant channel gains in the delay-Doppler plane can be utilized, which simplifies channel estimation and signal detection in high-mobility scenarios. The impact of pulse-shaping waveforms on the performance of OTFS was studied in [21], and the design of interference cancellation and iterative detection for OTFS was investigated in [22]. The diversity achieve...