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After a technocratic period predominating in mobility literature and practice, the rhetoric of participation has been incorporated as a vital condition for the sustainable mobility agenda and, more recently, for achieving transport and mobility justice. Considering the social significance of mobility beyond simple movement and participation as a term that can accommodate a wide range of motivations and implications, this chapter explores the complex interplay of participation and mobility in the global south context. To this end, this study adopts the spaces for participation framework to investigate the multiple roles of participation in urban mobility. With a focus on the Brazilian context, this chapter uncovers the nature, dynamics, and reach of invited and claimed spaces for participation in mobility planning. Using Rio de Janeiro as the case study site, the chapter examines the invited spaces for participation enabled by the city's mobility plan and analyses whether marginalised populations engage with and/or create further spaces for participation. This was achieved through document analysis, online photo-elicitation interviews with residents of Favela Santa Marta as well as semi-structured interviews with municipal government professionals and representatives of non-government organisations involved in the development of Rio's mobility plan. The chapter discusses the interconnectedness or lack of, within invited and claimed spaces for participation and the multiplicity of meanings attributed to participation and mobility by different actors. The chapter closes with a reflection on what this means for participatory mobility planning in Brazil but which may apply to similar regions in the global south.