The study investigates designing a sensory yoga play kit for hypersensitive children with Sensory Processing Disorder (SPD). This research aims to improve the two senses: proprioception and vestibular sensory issues, by implementing sensory yoga as part of the children’s daily routine. While there is currently no sensory yoga play kit available on the market, the study focuses on how yoga benefits sensory issues. It also explores how to design an inclusive sensory yoga play kit that encourages enjoyable sensory yoga, which has been tested and approved by occupational therapists. The research was conducted using qualitative research methods. Grounded upon Participatory Action Research and Inclusive Design, this study uncovers common themes, factors, and challenges hypersensitive children with SPD face in their everyday experiences. This investigation culminated in an inclusive sensory yoga play kit that motivates sensory yoga for children with SPD and autism-related sensory issues.