The cars from the autonomous ride hailing company will have specialists operating the vehicles during the test period.
Waymo says its cars will be in neighborhoods everywhere from North Philly to University City and will also operate on the city's freeways.
However, the self-driving vehicles are not available to the public just yet.
Waymo uses the test period as a way to learn a city's streets and traffic. Once that training is over, the cars can begin driving autonomously.