OBJECTIVE: The purpose of this study was to clarify the concept of engagement in rehabilitation by analyzing its application in both theoretical and empirical literature. DATA SOURCES: PubMed, Web of Science, CINAHL, Embase, and Scopus were searched for relevant studies published from January 1, 2003 to July 14, 2024. REVIEW METHODS: A literature-based concept analysis was carried out using Rogers' six-step evolutionary concept analysis method. Literature screening and data extraction were conducted separately by two researchers according to predetermined inclusion and exclusion criteria. The basic information and the relevant primary data of the included studies were extracted in detail. RESULTS: In total, 41 studies were included and analyzed. The antecedents included demographic factors, physical health, psychological and emotional factors, cognitive factors, behavioral factors, socio-cultural factors, environmental factors, and rehabilitation programs. The attributes contained collaborative therapeutic relationships, continual commitment and investment, a dynamic process and state, and goal-oriented. The consequences included multidisciplinary collaborations, communication, functional recovery, future independent exercise, and mental health. CONCLUSION: This study clarified the concept of engagement in rehabilitation and identified antecedents, attributes, and consequences of the concept. Further research is required to investigate and apply this concept to specific populations and settings.