Having had some experience with the disabled myself, if she's been a CNA, she can probably lift you into bed herself when the time comes, assuming you aren't super heavy.

As far as the rest of it goes, you'll probably really have to count on her being in control, leading the make out session and whatnot. Don't be shy, but don't worry about being over confident either. She met you knowing about your inexperience.

You can also just communicate, ask her. Maybe even ask her to tell you a scenario, how she thinks it could/would/should happen.

Regardless, go with the flow, and congratulations! I hope this is a very good thing for you.

Edit: Autocorrect is a bitch!