Travelling independently in an urban environment is challenging for people with a visual impairment (PVI). Current Wayfinding-apps lack detailed environmental information and are often not fully accessible. With the aim to design a wayfinding solution that facilitates independent travel and incorporates PVI needs and wishes, we deployed a cocreation design approach with PVI and professionals as co-creators. Our combination of different co-creation techniques and iterative prototyping expands the related research on wayfinding solutions and allowed us to zoom-in on specific features. Our approach started with a userrequirements analysis through selfexperience sessions, observations and focus groups. This was followed by iterative prototyping with user evaluations in controlled indoor and outdoor environments. Over a period of two years we created an accessible wayfinding solution in co-creation with 31 PVI and 19 professionals. This resulted in an optimized accessible interface, a personalized route, personalized wayfinding instructions and detailed orientation and environmental information. Lessons learned for co- design with PVI included setting up an accessible workshop environment, applying diverse evaluation methods and involving reoccurring participants.