Disability advocates in Westchester say rideshare company Lyft is discriminating against them by blocking them from rides.

Advocates rallied outside Federal Court in White Plains Thursday, hoping they will soon be able to get a ride like anyone else.

"We will ride," advocates chanted.

One of them, Dan Gropper, recounted a time when he had to miss a game he had tickets for because he can't request an accessible Lyft where he lives, as he can when visiting a bigger city.

It's why the group Westchester Disabled on the Move, Inc. filed a federal suit against Lyft in 2017. The group says the company's app blocks the ability to request accessible rides. WDOBI's attorney says 4% of the country has jurisdictions requiring companies like Lyft to offer those rides.

"Thirty-three years after the Americans with Disabilities Act, we're way too late to be playing these games," advocate Clinton Brown said.

Attorneys are hopeful Thursday's hearing will be one of the last before the case receives a trial date.

A Lyft spokesperson writes, "Lyft has a long-standing commitment to maintaining an inclusive and welcoming community, and we're constantly seeking solutions to address WAV supply challenges."

The company also explains there's a limited supply of accessible vehicles across the country.