The purpose of this qualitative case study research was to explore how adults with mild intellectual disabilities (ID) live out their social-sexual lives. Findings revealed the importance of both physical and emotional pleasure to five adults with ID. Research and educational efforts with this population have focused largely on reproduction and abuse prevention, emphasizing safety over the possibilities of human connectedness. Data sources included observations and a series of interviews. Findings in five areas – sensuality, intimacy, sexual experience, sexual attitudes, and sexual self-identity – demonstrate the richness of data that can be obtained with this population using qualitative research. Participants’ own words about their social-sexual lives are poignant, mirroring core social work pillars: self-determination and strengths perspective. Discussion includes recommendations for ways that social workers, as well as, sexuality and disability professionals can support individuals’ quality of life by addressing sexual pleasure as a key component of sexual health services.