Intrahousehold interactions in travel are fundamental to an understanding of activity travel behavior, as reflected by the substantial percentage of regional travel that is made jointly. The development of travel demand models that incorporate intrahousehold interactions is crucial to a credible analysis of traveler response to policies. A tour-based modeling framework is used to examine intrahousehold interactions in travel mode choice with a focus on public transport use in households having differences in car availability. An important distinction is made between car-sufficient households (in which there are at least as many cars in the household as license holders) and car-negotiating households (households that have fewer cars than license holders). Intrahousehold interactions and temporal–spatial constraints are explicitly represented by different patterns of joint household tours, with home-based tours as the unit of analysis. The empirical analysis is based on a nested logit model that was developed to integrate intrahousehold interactions with tour-based mode choices; Sydney Household Travel Survey data are used. The results show that joint household travel accounts for more than half of weekday home-based tours in Sydney, Australia. The arrangement of joint household tours is shown to depend on household context, situational factors, and social constraints. Mode choice associated with different joint tour patterns is influenced by household and individual characteristics, tour attributes, and transport-related fringe benefits.