A system is provided for the collective transport of people using a plurality of vehicles within a urban territory equipped with parking structures near transfer stations. Each parking structure comprises boxes for parking available vehicles in rows that provide a handling platform comprising a return area in front of a first row and a pick-up area in front of a second row. A mechanism displaces the boxes and brings, at the level of the handling platform, an empty box and an occupied box. The vehicle is thereafter advanced from the occupied box onto the pick-up area and taken therefrom. The vehicle is thereafter brought to the return area of a second parking structure, advanced and introduced in the empty box thereof. The empty box thereafter containing the vehicle is raised by the mechanism and replaced by a second empty box ready to receive a further vehicle.