Brazil is a large and socially diverse country that could benefit from equitable access to emerging technologies, particularly in rural and remote communities. This paper addresses this challenging task by presenting the concept and design process of an itinerant ubiquitous computing laboratory, a vehicle-based environment aimed at delivering participatory learning opportunities to vulnerable populations. By using the Socially Aware Design framework, we conducted four co-design workshops with 16 specialists experienced in ubiquitous computing installations. Through some Socially Aware Design artifacts, we broadly identified in the social context 35 stakeholders, 29 challenges and 43 prospective requirements that informed the final laboratory proposal. The laboratory scenario was consolidated with low-fidelity prototypes developed through participatory techniques. Besides technical requirements, such as power sources and sensor integrations, an itinerant laboratory must also address social aspects, including community engagement and compliance with local regulations. As conceptual contributions, our paper extends ubiquitous computing beyond fixed installations by illustrating traveling interactive spaces that can bring awareness of emerging technologies with hands-on experiences that are socially relevant. As practical contributions, this paper presents some lessons learned about designing itinerant laboratories of ubiquitous computing.