Palliative care (PC) has undergone a significant evolution from its historical roots in religious and ethical traditions to its modern recognition as a holistic, interdisciplinary medical specialty. While traditionally associated with end-of-life cancer care, PC now encompasses a broader scope, addressing the multidimensional suffering of individuals living with chronic, life-limiting, or disabling conditions. This entry traces the historical and conceptual development of PC, examining shifts in global definitions, models of care, and cultural interpretations. It underscores the complex interplay between PC and other health disciplines, such as rehabilitation medicine, and explores emerging models that integrate restorative and palliative goals. Special emphasis is placed on the intersection of PC with disability, human rights, and marginalization, highlighting the systemic barriers faced by individuals with intellectual and developmental disabilities, sensory impairments, and those from racially, culturally, and socioeconomically marginalized communities. Drawing on international human rights frameworks, the entry advocates for equitable access to quality PC as a moral, medical, and legal imperative. It concludes by emphasizing the necessity of culturally competent, inclusive, and intersectional care models that recognize diverse needs and uphold dignity across all stages of serious illness and disability.