The ‘ambiguity’ of Research and Innovation (R&I) within the present contemporary society triggers increasing manifestations of public concerns concerning science. Apart from some implications it has, this mistrust also functions as a stimuli towards integrating the public view and public (social) needs into the development and implementation of R&I policies. With reference to European communities, the European Commission (EC) has provided funding to various projects aiming to capitalise on the concept of Responsible Research and Innovation (RRI) and the RRI ‘key’ of Public Engagement (PE) in order to engage the public in R&I, enhance a human-centric and inclusive R&I approach, and ultimately foster a mutually responsible relation between science and society. This study aims to examine how PE practices are implemented within the context of EC-funded projects addressing RRI-driven public engagement. Seventeen PE practices that have been implemented during the lifespan of five EC projects were qualitatively and thematically analysed. The identified themes indicate the implementation patterns of PE and contribute to reaching a set of conclusions towards realising a participatory, human-centric and inclusive R&I, fostering in its own turn future socio-scientific collaborations. Policy-makers, researchers, practitioners and stakeholders interested in public engagement in R&I can capitalise on the study’s conclusions and contribute to manifestations of responsible innovation.