This study aimed to describe the socialization process of people with disabilities in the travel experience. Based on the concept of leisure socialization (i.e., socialization into leisure and socialization through leisure), the structure and mechanism of their travel socialization process were explored, and the critical leisure agents were identified. Face-to-face individual interviews were conducted. Major themes found in this study included that multiple agents can influence the socialization process (e.g., parents, friends, schools). Also, people with congenital disabilities since childhood had higher internal barriers to attempting travel as adults because they had never learned the skills, knowledge, attitudes, and values of travel in childhood. However, participants who have experienced travel through their parents, family, friends, school, etc., in childhood or who had a travel experience before having a disability can have the knowledge, experience, attitude, and values of travel even after becoming disabled. Moreover, the result showed that travel is recognized as a valuable resource for personal development and social inclusion in people with disabilities. Therefore, it implies that the travel socialization of people with disabilities in their childhood or even adulthood plays a significant role in their quality of life and social inclusion.