Public transport bus services are generally based on regular operation of transit buses along a route calling at agreed bus stops according to a published public transport timetable.

While there are indications of experiments with public transport in Paris as early as 1662, there is evidence of a scheduled "bus route" from Market Street in Manchester to Pendleton in Salford UK, started by John Greenwood in 1824.

Another claim for the first public transport system for general use originated in Nantes, France, in 1826. Stanislas Baudry [fr], a retired army officer who had built public baths using the surplus heat from his flour mill on the city's edge, set up a short route between the center of town and his baths. The service started on the Place du Commerce, outside the hat shop of a M. Omnès, who displayed the motto Omnès Omnibus (Latin for "everything for everybody" or "all for all") on his shopfront. When Baudry discovered that passengers were just as interested in getting off at intermediate points as in patronizing his baths, he changed the route's focus. His new voiture omnibus ("carriage for all") combined the functions of the hired hackney carriage with a stagecoach that travelled a predetermined route from inn to inn, carrying passengers and mail. His omnibus had wooden benches that ran down the sides of the vehicle; passengers entered from the rear.

In 1828, Baudry went to Paris, where he founded a company under the name Entreprise générale des omnibus de Paris, while his son Edmond Baudry founded two similar companies in Bordeaux and in Lyon.

A London newspaper reported on July 4, 1829, that "the new vehicle, called the omnibus, commenced running this morning from Paddington to the City", operated by George Shillibeer.

The first omnibus service in New York began in 1829, when Abraham Brower, an entrepreneur who had organized volunteer fire companies, established a route along Broadway starting at Bowling Green. Other American cities soon followed suit: Philadelphia in 1831, Boston in 1835 and Baltimore in 1844. In most cases, the city governments granted a private company—generally a small stableman already in the livery or freight-hauling business—an exclusive franchise to operate public coaches along a specified route. In return, the company agreed to maintain certain minimum levels of service.

In 1832, the New York omnibus had a rival when the first trams, or streetcars started operation along Bowery, which offered the excellent improvement in amenity of riding on smooth iron rails rather than clattering over granite setts, called "Belgian blocks". The streetcars were financed by John Mason, a wealthy banker, and built by an Irish-American contractor, John Stephenson. The Fifth Avenue Coach Company introduced electric buses to Fifth Avenue in New York in 1898.

In 1831, New Yorker Washington Irving remarked of Britain's Reform Act (finally passed in 1832): "The great reform omnibus moves but slowly." Steam buses emerged in the 1830s as competition to the horse-drawn buses.