The article gives an overview of theoretical and methodical aspects, legal and political parameters, and fields of action of health-related Social Work. The actual discourse is human rights–based, discussing participation orientation, person-centeredness, self-determination, and the autonomy of vulnerable groups. Relevant theories of Social Work like (Thiersch, Lebensweltorientierte Soziale Arbeit, 9. Auflage, 2014) the Theory of Social Justice (Rawl, A theory of justice, 1971) were combined with UN CRPD (UN 2006), the German Basic Law (1949), and theory-based thoughts referring to Participation (Bartelheimer et al., Teilhabe—eine Begriffsbestimmung, 2020). Useful contributions are made by reference sciences and health-relevant disciplines for participation-oriented and health-related Social Work. Social Work as science and practice is in many fields oriented towards the health and well-being of its addressees and makes essential contributions to healthcare. The ICF has a strong normative influence, a comprehensive catalog with relevant topics for health-related Social Work, which is provided by the Association for Social Work in Health Care (2015). Providing health care with accessible offers and supporting participation in a social environment is a useful solution that makes it necessary for communities, municipalities, and institutions to change their policies because the perspective changes from the case to the field, which poses many challenges.