The three-wheel vehicles with a carriage in the back are increasingly popular among tourists and New Yorkers.
Officials have wanted to regulate them for years, but a judge struck down regulations after the city tried to cap the number of pedicabs allowed on the street.
The rules passed Wednesday don't cap the number. Instead, there will be a 60-day period to apply for a license.
Pedicabs also won't be allowed in the city's pedestrian plazas.
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