This article aims to explore the relationship between social innovation and opportunities for innovation in public services, focusing on a range of initiatives intended to improve services and infrastructure for pedestrians in the city of São Paulo, the largest Brazilian megacity, namely: Reduced Speed Zone, Safe Routes to School, and Complete Street. We apply the multiagent framework for innovation in services, incorporating nine variables that characterize social innovation. As for the main results, in the local context, there is the role of third-sector organizations in creating and introducing solutions for active mobility services through co-creation. Co-creation was identified as a key process and is highlighted in actions to obtain community involvement, interviews to measure the acceptance of the project and detect potential points of improvement not foreseen in the pilot project, participatory workshops, installation of informative and interactive panels, preparation and approval of the temporary intervention project, and joint discussion and analysis with municipal agencies about the points that could receive the temporary intervention. The initiatives are recent and cover specific geographic–temporal boundaries. There is a need to deepen the dialogue between social innovation and service innovation with the co-design and co-construction approaches proposed in this paper, applied in different political, economic, urban, and social contexts. In addition, some barriers are highlighted relating to the lack of public funding, compliance with national regulations, political will, non-partisan actions, and long-term vision. There are potentials for the continuous introduction of innovations for the improvement of public services for pedestrians, promoting participatory restructuring as a form of (re)appropriation of urban public spaces.