RDA  began in the United Kingdom, where the benefits of horse riding for people with disabilities were recognised and developed through organised programs.

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In Australia, the movement began in 1964, when Peter and June McIntyre established the first riding classes for people with disabilities on their property near Brisbane, Queensland.

The idea grew from there. RDA programs soon spread across Australia. In New South Wales, Pearl Batchelor OAM and Nan Everingham founded Riding for the Disabled Association (NSW) in 1972. 

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Established in 1994, RDA Kendall operated from several locations: Summerland at Batar Creek, Ridge Road at Kew and the Kendall Showground. 

The Kendall location ended in 2020, resulting in a two-year hiatus. During this period, its horses were cared for at various locations while a new home was sought.

In 2022, the generosity of a local farmer enabled RDA Kendall to re-establish at Old Coach Road, Batar Creek.

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