Many persons with intellectual and developmental disabilities resist basic dental care leading to poor oral health. The present study evaluated the effects of a dental desensitization intervention for two students who had autism spectrum disorder and would not tolerate tooth cleaning and examination. Intervention consisted of gradually exposing the students to steps within a desensitization hierarchy, reinforcing compliance, and progressively fading-eliminating reinforcement. Familiar care-providers implemented intervention within a simulated dental setting at their school. Both students completed intervention successfully and one of them was able to tolerate procedures during visits to a dentist’s office. We discuss the clinical and research implications of these findings.