Waymo, the self-driving car company backed by Google’s parent company Alphabet, is taking its first step toward operating in New York City.

The company has filed for a permit to begin testing its vehicles on Manhattan streets, with trained human drivers behind the wheel for now, as state law prohibits fully driverless cars on public roads.

Waymo already operates in cities like Los Angeles, San Francisco and Phoenix. But New York presents unique challenges with its heavy traffic and constant pedestrian activity.

Matthew Daus, the former commissioner of the Taxi and Limousine Commission, joined “Mornings On 1” Thursday to weigh in.

Tap the video player above to watch the full interview.