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This study explores Kenpo Karate as an inclusive extracurricular activity that supports self-efficacy, social skills, and holistic development in children with disabilities (CWDs). Conducted at a Western U.S. martial arts studio using a participatory action research framework, it involved CWDs aged 5–12, their caregivers, and instructors. Data were gathered through surveys, observations, and performance assessments, using triangulation to ensure validity. Findings show that skill-based peer matching significantly improved students' confidence and sense of belonging, outperforming traditional belt-level and age-based groupings. These outcomes suggest martial arts can foster academic and social integration for CWDs and highlight the value of inclusive practices that build on students' strengths and abilities.