Despite growing recognition of the need for inclusive inquiry, traditional research systems continue to privilege academic and institutional voices, resulting in evidence bases that fail to reflect the lived experiences, needs, and priorities of some communities, which remain under-represented in research. This exclusion not only undermines the relevance and equity of health research but also perpetuates disparities in access, outcomes, and policy influence across local, national, and global contexts. In this paper, we provide insight into Raising Voices in Research (RViR), a programme grounded in community and health psychology principles that seeks to engage underrepresented communities in research, including as participants. Across several phases, RViR has worked with 20 VCSE organisations representing a wide spectrum of communities, including young people, carers, neurodivergent individuals, LGBTQ+ groups, those seeking sanctuary, and people experiencing homelessness. In this paper, we will detail how, through a range of participatory and co-production activities, we sought to foster trust, build research capacity, and create systemic pathways for community-led research influence among communities who are traditionally excluded from health research: moving from research-led to community-led. We also reflect on the challenges we faced in attempting to bring about systemic change in research culture and systems, ethical evolution toward community-led inquiry, and more relevant and inclusive research. Finally, we examine risks such as institutional resistance, capacity, and funding, whilst also showcasing how community empowerment and participatory methods can fundamentally reshape research institutions and practices.