Simulator-based training offers a potential rehabilitation solution to improve driving performance post-ABI. The aims of the current study was two-fold: (1) to describe the development process of a driving simulator intervention targeted towards ABI survivors in a rehabilitation setting by providing a theoretical or evidence-based rationale for intervention components; and (2) to provide a qualitative account of ABI survivors’ experiences, and perceptions of the developed simulator intervention. Intervention mapping was used to systematically develop the driving simulator intervention. It was found to be a useful method for highlighting enablers and barriers to return to driving, selecting justifiable goals for the intervention, identifying appropriate techniques to facilitate change and informing intervention design and delivery. Furthermore, participant interviews highlighted the importance of considering personal factors, context, learning and skill development processes, simulator fidelity, side effects, appropriateness of exercises and appropriateness of intervention delivery on motivation, credibility and enjoyment of the intervention. Overall, this research can impact the development of future driving simulator interventions and provide guidance for their implementation and evaluation in brain injury rehabilitation settings.