The L.E.G.A.C.Y. Case Management, Inc. An Independent Care Waiver Program (ICWP) Case Management Agency. Contact Us The L.E.G.A.C.Y. Mission The L.E.G.A.C.Y.'s mission is to help people with temporary or permanent disability caused by injury or disease to rebuild their lives with hope, independence and dignity and advocating for their full inclusion in all aspects of community life while promoting well-being, safety, and injury prevention.