Many professions are involved in the rehabilitation process of persons who incur significant physical disabilities. Physical rehabilitation facilities feature multidisciplinary teams that rely on interdisciplinary knowledge to inform clinical practice. These teams typically include physiatrists (physicians specializing in rehabilitation medicine), nurses, physical therapists, occupational therapists, speech pathologists, audiologists, vocational counselors, recreational therapists, social workers, and psychologists, depending on the particular setting. Throughout its long involvement in rehabilitation, clinical psychology brings unique expertise in theory, research, and skill that benefit rehabilitation.In this chapter, we provide a brief history of clinical psychology in physical medicine and rehabilitation (PMR) settings, and we describe influential events, individuals, and developments that shaped the role of clinical psychology in physical rehabilitation facilities. We summarize the unique contributions and activities of psychologists in these settings and the competencies that constitute best practice. We conclude with an overview of the present status and future directions of psychologists in rehabilitation.