Background: The existing literature provides only a partial understanding of the viewpoints of elementary school-aged children with developmental coordination disorder (DCD) regarding their participation and needs. In order to plan and develop health and social services driven by a personalized approach, it is essential to further document their perceptions with those of their parents. Aims: The aim of the study was to explore the participation and needs of school-aged children with DCD at home and in the community, as perceived by children and parents. Methods: Participants were ten school-aged children with DCD, from 6 to 13 years old, and their parents, including one couple (n = 11). Individual semi-structured interviews were conducted with each participant, except the couple who were interviewed together. Results: Most children and all parents perceived some difficulties at home but few in the community. However, participation and needs varied for each child. Children rarely expressed the same expectations as their parents. While most children did not want more support, parents requested training on DCD. Conclusions: When planning health and social services for children with DCD, it is recommended to consult all stakeholders, including children, as well as offer indirect interventions, such as training and coaching for parents.