The best way I’ve heard this articulated is:
Under the medical model, disabled individuals are expected to change their behavior to accommodate (fit on with) society. We ask people whose lives are already more difficult than average to do additional work.
Under the social model, we ask all able-bodied people to accommodate disabled individuals instead. Further, the social model says that any policy that affects disabled people should be crafted by or with disabled people who are affected by that policy. Nothing about us without us.
I’m disabled and became disabled as an adult and, in my experience, after becoming disabled I’ve faced rampant discrimination that wasn’t there before. I’ve been fired twice in the last 10 years due to disability-related issues. I have no recourse, anything I could do would risk torpedoing my career. This is life under the medical model. You’re expected to live a smaller existence.
I support the social model. It’s the one where I get to have agency.