Urban mobility has been a major challenge for Brazilian society, and its legal framework has been changing over the past 30 years. This chapter analyzes the urban mobility in Brazil from its legal perspective and how the law can engender mobility itself, relating urban mobility with citizenship and urban rights. It presents the evolution of Brazilian legislation on this issue between 1988 and 2015, since the promulgation of the 1988 Brazilian Federal Constitution to the year when urban mobility became a social right. The observed legal advances show the maturity of Brazil after becoming a well-equipped country in legal terms regarding urban mobility laws, evidencing the importance of this discussion in contemporary Brazil.