Research suggests that the built environment and transport services affect the health and well-being of people with a disability. In Nepal, there is limited evidence describing the safety of road users in transport environments. The perceptions of safety in people with a disability while travelling across urban centres in Nepal is unknown. We explored the experiences of people with a disability regarding their mobility and identified facilitators and barriers to achieving safe and inclusive travel in Kathmandu. We used video-elicitation interviews with seven people with a disability and interviewed five advocacy practitioners and five decision-makers. All participants considered poor road conditions and transport infrastructure, and drivers’ speeding behaviour hindered their ability to travel safely. The absence of coordination between government agencies and disability-friendly infrastructure standards was the major reason impeding inclusive and safe travel. Our study suggests that the key issue to be addressed is the implementation of existing policies.