This paper assesses the perception of Augmented Reality (AR) by People with Intellectual Disabilities (IDs) when using assistive technologies in preparation for a museum visit. We designed and developed an application to test how AR can provide support and is perceived in this context. We organized a user study with 20 participants with IDs, all members of the same association. Three research visits, including focus groups, enabled us to assess the memorability of the contents before introducing AR technology and collect information about users’ habits and preferences. Later, we assessed users’ perception of AR individually during a test session and conducted a task-oriented hands-on session. Finally, we went to the museum with our users and gathered information about their preferences and choices when using AR in situ, constantly analyzing verbal and non-verbal feedback. We describe all our findings and discuss their implications in terms of guidelines for future design.