In a dramatic display, national Paralympian archer Hasihin Sanawi, flanked by four peers, carried the torch into the stadium and proceeded towards a trough.
After lighting the trough, it was then lifted up via a pulley system using the physical strength of the athletes to the top of the cauldron in the form of a giant torch.
A vibrant pyrotechnic display followed the cauldron's lighting.
Prior to that, Prime Minister Datuk Seri Najib Tun Razak officially declared the Games open to a cheering crowd and a pyrotechnic display.
The oath-taking that came before was read by powerlifter Sharifah Raudzah Syed Akil and Teo Kian Joo, the technical advisor of badminton.
The Para Games will be held from Sept 17 to 23.