Teachers' attitudes toward students with autism spectrum disorder (ASD) are vital predictors of successful inclusive education. Guided by the basic psychological needs theory, this cross-sectional survey aimed to examine the relationships among mindfulness, basic psychological needs satisfaction (basic psychological needs theory-based construct), and attitudes toward including students with ASD among preservice physical education (PE) teachers. A multisection survey form was administered to 211 preservice PE teachers. Path analysis indicated that mindfulness and basic psychological needs satisfaction positively predicted attitudes toward the inclusion of students with ASD. In addition, mindfulness had an indirect effect on attitudes through basic psychological needs satisfaction. The findings provide a preliminary direction for the development of a mindfulness-based intervention program for enhancing preservice PE teachers' attitudes toward the inclusion of students with ASD. The findings also suggest that the basic psychological needs theory is a useful framework for understanding the relationship between mindfulness and attitudes. Future longitudinal or intervention studies are needed to examine whether the findings can be replicated.