Research on technology acceptance presents different theories and models to predict the intention to use and actual usage of a system. However, even when applying these concepts to the design of novel technology, there is still a lack of acceptance among many older individuals. In the past years, we gathered experience in developing and evaluating technology for older adults. Throughout multiple engineering cycles, we repeatedly encountered issues impacting user acceptance. Based on our research, we argue that low acceptance can be ascribed to all phases of the engineering process, and thus, should be systematically applied to technology engineering. By considering research on technology acceptance among older adults, and presenting our own experiences in how older adults accept ICT, we introduce 12 lessons learned when designing ICT for older adults (understanding acceptance, evaluating the importance of user acceptance, pursuing the own goals, consulting with the user, considering all available information, connecting potential benefits, balancing different views, considering mediating factors, making use of emerging artifacts, being sensitive to one’s own actions, avoiding misunderstanding, and communicating clearly). We conclude with a proposition on how to implement these lessons into acceptance engineering throughout the engineering lifecycle.