If G is a group which admits a manifold model for BG then G is a Poincaré duality group. We study a generalisation of Poincaré duality groups, introduced initially by Davis and Leary in [DL03], motivated by groups G with cocompact manifold models M for EG where M H is a contractible submanifold for all finite subgroups H of G. We give several sources of examples and constructions of these Bredon-Poincaré duality groups, including using the equivariant reflection group trick of Davis and Leary to construct examples of Bredon-Poincaré duality groups arising from actions on manifolds M where the dimensions of the submanifolds M H are specified. We classify Bredon-Poincaré duality groups in low dimensions, and discuss behaviour under group extensions and graphs of groups.