Waymo said Wednesday it has applied for a permit to test its autonomous vehicles in New York City, the Alphabet company’s first step in a sticky regulatory process to bring its robotaxis to U.S.’s largest city.

The company is facing legal hurdles and other obstacles before its cars can cruise the city’s streets without drivers.

Waymo is bringing autonomous cars back to New York City for tests, with the hopes of eventually offering a paid ride-hailing service.