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Among older adults with disabilities, it can often be difficult to maintain active aging. However, the literature highlights a positive link between mental health and autonomy on the one hand, and self-determined motivation on the other. Therefore, self-determined motivation may be improved by promoting mental health and, ultimately, older adults’ autonomy. In this context, a “well-being and autonomy center”—an initiative to promote mental health—has been set up to offer activities adapted to the disabilities and needs of older adults, thereby fostering active aging. The purpose of this longitudinal study is to test the hypothesis that promoting the mental health of older adults with disabilities would preserve their autonomy through the development of self-determined motivation. The theoretical model was tested using structural equation modeling on the data of 170 participants. A randomized controlled trial was conducted between 2019 and 2021 with the same cohort. The results of the structural equation modeling support the importance of promoting mental health to maintain active aging. An evaluation of the well-being and autonomy center after three months of operation indicates a decrease in depression levels, an increase in the frequency of self-determined activities, and an increase in the autonomy of beneficiaries. The discussion focuses on the relevance of conducting a process analysis of the mental health promotion program and on new guidance for maintaining the autonomy of older adults with disabilities.