In recent years, transport policy has strongly been oriented to develop more inclusive cities and to design mobility services aligned to specific users’ needs. In an attempt to guarantee an adequate level of accessibility, especially to vulnerable users, approaches based on the dialogue between public administration, operators, citizens and researchers (so-called “quadruple helix”) have been proposed. The two case studies presented in this article refer to the development of a minibus demand-responsive transport system, devoted mainly to people with reduced mobility, in the cities of Ljubljana and Maribor (Slovenia) designed using a Living Lab participative approach. In fact, urban mobility stakeholders were engaged in this process during the design and monitoring phases of the pilot projects. Their involvement resulted in producing positive outcomes: citizens actively participated in the projects, and the designed service was perceived to be useful and effective. Both projects were successful, as statistics demonstrate, and are expected to be confirmed and strengthened over the next few years.