The sweeping agenda calls for transforming streets to speed up buses and make it safer for cyclists and pedestrians.
"For too long, things have been stacked in car drivers' favor and away from other people that need to use our city streets," said Johnson.
Johnson said the plan will "revolutionize the way New Yorkers use our streets, creating more bus and bike lanes, more pedestrian space and safer street infrastructure."
The $1.7 billion plan will require the city to build 250 miles of protected bike lanes and 150 miles of protected bus lanes, plus bus stop upgrades, better pedestrian crossing signals and a crackdown on bad drivers.
The mayor was on board an M-14 bus during the Monday evening commute, asking riders how they felt about the new 14th Street busway.
"I thought it would go well. It's going better, I think, than anyone imagined," he said in an interview with NY1.
Transit advocates have cheered on the plan, while drivers worry traffic will be worse.
"I think it's healthier for people to be walking and biking," Manhattan worker Sandra Clough said.
"I'm for more bikes lanes, of course," said Clinton Hill resident Tom Platoni.
"It's probably a good thing to crack down on congestion with cars," Downtown Brooklyn resident Mark Hulsmann said.
"I think that's kind of tough for a person who has to figure out how I'm going to get my child to school or drop them off," said Park Slope resident Jennifer Fortunato.
Uber driver Eddie Kassi said he's worried about more traffic and wants to see the laws enforced for all.
"Need to organize how we can all help each other in the city. It's not only about the cars, cars, cars," he said. "Go check 13th Street and 15th Street after they did the bus route. You need half an hour just to cross 13th Street, which is like three avenues. It's horrible. They're doing good things, but they're hurting a lot of people on the other side."
The plan will take effect in December 2021.
The bill also requires the DOT to issue a transportation master plan every five years.
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