Persons with intellectual disability (ID) exhibit reduced levels of participation in recreational and habitual physical activity, which leads to an increased risk of cardiovascular diseases and resulting medical and psychosocial burdens. In spite of their cognitive limitations, persons with ID are able to benefit from utilization of learner-centered approaches to physical activity participation. Several theoretical models, including social cognitive theory (SCT), self-determination theory (SDT), and constructivism, are helpful for explaining the benefits of internalizing learning within the framework of physical activity in persons with ID. Peer modeling, decision-making for leisure (DML), divergent production style (DPS), and the cycle of internalization (CIL) are practical teaching models focusing on internalizing learning experiences and developing an intrinsic motivation for action in the physical domain. These models have been successfully practiced in persons with ID, and their feasibility and effectiveness was established particularly for developing autonomy and social relatedness. In this article the theoretical constructs and the research literature pertaining to SCT, DML, DPS and CIL is reviewed, enabling to synthesize perspectives on how to integrate these models within residential, vocational or community based physical activity programs for persons with ID. Utilizing such models and practices may facilitate persons with ID developing an internalized motivational approach to participation in physical activity and therefore be beneficial for reducing risk factors, keeping fit and enhance quality of life. Staff members in community residences and homes for persons with ID as well as in day-care and vocational centers, should be encouraged to utilize such models as an alternative to the widely used directive teaching model following the behaviorist approach.