In the late 1940's, parents of children with cerebral palsy and other disabilities were constantly frustrated by the lack of services to meet their children's special needs. A number of these parents banded together to advocate for solutions and founded United Cerebral Palsy Associations of New York State, Inc., (UCPA/NYS). Upon sharing their mutual concerns, it became apparent that hundreds of people with disabilities were homebound due to a lack of knowledge and experience in providing for their needs and that ultimately, the heaviest burden of day-to-day care was borne by families in their homes. Hence, UCPA/NYS resolved to seek out and develop the necessary array of community-based services to support persons with disabilities and their families.

On March 15, 1964, representatives of the New York State Elks Association and the UCPA/NYS met to discuss a joint venture that would benefit children and adults with disabilities and their families. As a result, the NYS Elks Service Program was adopted as an Elks Major Project. Since that time the New York State Elks Association has contributed over $10 million to the UCPA/NYS for the Home Service Program including $460,000 in the last year.

On April 1, 1966, the first two Home Service Directors began mobile services to persons with disabilities and their families. Since 1966, the program has grown and expanded to every county of New York State with 27 Home Service Directors serving over 12,000 individuals with disabilities.

In 2001 UCPA officially changed their name to Cerebral Palsy Associations of New York State.