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This research is a critical examination of the relationship between the criminal justice and mental health systems, focusing on a wide range of populations, including neurodevelopmental disabilities, specifically autism and intellectual disability (i.e., mental illness). Analysis covers the entire criminal justice process for the above populations, from initial contact, police questioning, the court system, community and custodial correctional systems, and the forensic mental health system. Specific topics addressed include community interactions and crisis intervention, comprehension of Miranda warnings, competency to stand trial, eyewitness identification procedures, admissibility of expert testimony, defenses of legal responsibility, community corrections, and ethical concerns with incarceration and eligibility for capital punishment. Interviews of justice system practitioners provide readers with first-hand knowledge and experience of their profession, what is most important to know, and how they successfully work with persons with mental illnesses or disabilities. Real-life case examples allow readers to observe how the concepts are applied and provide a “human context” in applying law and policy with the intersection of mental health. The research concludes with considerations and recommendations from experts in the field to improve the experiences of those with mental illnesses and disabilities as they navigate the complexities of the criminal justice system.