The seamless integration of technology into daily life, particularly within the Internet of Things (IoT) landscape, hinges on its harmonious alignment with contextual surroundings. This chapter emphasizes the critical role of user engagement in IoT development, emphasizing inclusive design practices that prioritize user needs and contexts. Exploring diverse user engagement methods, the chapter underscores their importance in facilitating mutual learning between researchers and end-users. By offering practical insights into the benefits, challenges, and outcomes of these approaches, this chapter aims to empower readers with the knowledge and tools to enhance user involvement throughout the IoT innovation journey.