There are some agencies that are especially for this who find sex workers for disabled people. They work within the law, have been vetted and are used to working with people with disabilities.
IN THE NEWS - SUS-SEX
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Back in March sex and disability were in the news when it was revealed that sex workers were being used in care homes in Sussex. The revelations had a mixed response. Some people are concerned that this opens the door to the possibility of exploitation. Others defend it, saying that the sexual surrogates are doing something that care workers are unable to, both morally and by law.
For some, using a sex worker and knowing that they can be intimate, can give the confidence that they need to be in a relationship with a more long-term partner. Learning that they have some physical sexual capability to back up their sexual desires raises their self-esteem.
Others may not want to use a sex worker and would prefer to wait until they are in a relationship. Going back to Glee, Artie was upset that he lost his virginity through 'meaningless' sex - albeit as an expression by a caring friend. He was excited to lose his virginity as he wasn't sure he could have sex. After the encounter he was left wishing he had waited.