Many people with intellectual disabilities seek opportunities to develop their self-determination, personal development, interpersonal relationships, and well-being. Emerging technologies, such as augmented reality (AR), present an opportunity for new approaches to supporting inclusion and personal development. This paper presents a scoping review of seventeen studies in the past decade and discusses the benefits highlighted by the authors. Most studies conducted with people with intellectual disabilities have shown that AR performs a positive and effective role as an instructional or assistive tool in the areas of education, daily living, or health. AR provides an opportunity to help people acquire new knowledge (e.g., foreign language and numeracy), form new habits (e.g., teeth brushing technique), and experience environments inclusively (e.g., arrive in the classroom with the support of an AR navigation app). Hence, this paper provides a comprehensive overview of known useful aspects of AR technology in the support and inclusion of people.