An approach is provided for performing ride-sharing functions based on joint motion using multiple sensor data. The approach, for example, involves retrieving a joint motion prediction indicating whether at least two devices are traveling in a same transportation vehicle. The joint motion prediction is computed based on sensor data collected from the at least two devices using at least one sensor type from among a plurality of sensor types. Each sensor type of the plurality of sensor types is associated with a respective joint motion classifier configured to compute a sensor-type joint motion prediction that is used for generating the joint motion prediction. The approach also involves initiating a ride-sharing function for respective users of the at least two devices based on the joint motion prediction.