Mr Morrison detailed the establishment of the commission in Canberra on Friday morning before he is expected to call an election before the end of the weekend.
More than $500 million was allocated in Tuesday night's budget into the Brisbane-based inquiry which will run for three years.
It will be led by former NSW Supreme Court judge Ronald Sackville, who will be assisted by five other commissioners, some of whom have lived experience of disability.
The government voted in favour of setting up the royal commission only after a motion calling for the commission was put forward by Greens Senator Jordon Steele-John and passed with Labor's support in February.
Mr Morrison became emotional as he talked about his brother-in-law Garry, who has multiple sclerosis.
"As my brother-in-law, Garry also said to me, it is not flash being disabled, but the good thing is that that's the condition you live within Australia and that you're an Australian.
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