The identity of rehabilitation counseling is rooted in the constructs of counseling psychology and is expressed through current best practice. This chapter provides a brief description on which counseling theories and techniques work best with different disability populations and why. It traces the emerging threads of rehabilitation counseling through counseling theories and techniques. Next, it focuses on the relevance of theory and an accounting of successful applications of theory to practice. It then moves outward from the roots of counseling, from common factors to schools of thought, to describe how counseling fits into our community-based world. Career counseling is a signature venue for rehabilitation counseling. The chapter describes three of the most popular and useful approaches (Minnesota Theory of Work Adjustment, Holland’s Theory, and Super’s Life Span, Life- Space Theory) to providing a sense of the spectrum of service possibilities.