This study investigates how prior experiences (personal or a close other’s) influence individuals’ engagement with virtual reality (VR) stories designed to promote understanding and foster prosocial behavior. Integrating self-determination theory and self–other overlap, we conducted an experimental mixed-method study with 35 participants who experienced three VR stories focused on inclusion, diversity, equity, and accessibility (IDEA): living with Alzheimer’s, blindness, and in a refugee camp. Findings indicate that while participants felt some autonomy with the VR headset, they experienced a lack of autonomy, competence, and relatedness in the storytelling. Participants engaged in perspective-taking but often thought about those close to them who had similar experiences rather than themselves. Thus, a close other’s experience affected whether people engaged in perspective-taking. However, prior experience with IDEA topics did not predict cognitive effort, indicating that individuals with such experience do not exert more cognitive effort than those without it. Additionally, cognitive effort did not predict prosocial attitudes or behaviors. This study highlights the complexities of how previous experiences affect engagement with IDEA-centered VR, perspective-taking, and cognitive effort and suggests directions for future research.