Valuing People Now is a plan aimed at improving services for people with learning disabilities across health, housing, employment and community care services.
Although the strategy does not cover children with learning disabilities, one of its key aims is to ensure people with learning disabilities have the choice to have relationships, become parents and continue to be parents.
David Congdon, Mencap's head of campaigns and policy, said: "There is no doubt that many parents with learning difficulties have their children taken into care because it is assumed they cannot care for the children themselves.
"Hopefully these plans will ensure these parents get the support to enable more people with learning difficulties to cope as parents."
Proposals outlined include support for parents with learning disabilities and their children and the inclusion of parents with learning disabilities in new parenting initiatives supported by the Department for Children, Schools and Families.
The document also outlines plans to help young people with learning disabilities move into adulthood and access to the same opportunities as others in society.
But Congdon said more work needs to be undertaken by local authorities to support young people in adult life.
"The real need is for local authorities to get their corporate acts together, identify the extent of need and properly plan what they are going to do," he said. "It should not be a case of leaving it until the young person leaves education, then asking what shall we do?"
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