Introduction: Population ageing and the increase in mobility-related comorbidities represent major health challenges. Rehabilitation nursing stands out in the implementation of procedures that promote functional recovery and improve quality of life. Objective: To evaluate the health gains provided by rehabilitation nursing care, with an emphasis on physical exercise programmes for adults with reduced mobility and comorbidities, carried out in a home setting. Method: This Systematic Literature Review (SLR), carried out between 2018 and 2023, used the PICO framework to guide the searches in the MEDLINE and PubMed databases. Nine studies, including randomised and observational studies, were selected. The review follows the PRISMA guidelines, assessing levels of evidence according to the standards set by the Joanna Briggs Institute. Results: The review included 9 studies, with levels of evidence ranging from 1.a to 2.b, from countries such as Brazil, Portugal and Japan. Most were highly methodologically robust (1.a and 1.b). Rehabilitation interventions, especially home-based exercise programmes, result in improvements in functional mobility, muscle strength, balance, respiratory capacity and quality of life. They also reduced the risk of falls and increased autonomy in activities of daily living, showing gains in cardiorespiratory capacity and a reduction in haemodynamic and lipid profiles in adults with comorbidities. Conclusion: Rehabilitation nursing care, associated with physical exercise programmes in a home setting, provides significant gains in mobility and quality of life, highlighting its importance in promoting health in the face of an ageing population.