N.Y. Comp. Codes R. & Regs. tit. 21, § 1035.2
(a) The following individuals are ADA-paratransit-eligible:
(2) any individual with a disability who needs the assistance of a wheelchair lift or other boarding device and is able, with such assistance, to board, ride and disembark from any vehicle which is readily accessible to and usable by individuals with disabilities if the individual wants to travel on a route on the system during the hours of operation of the system at a time, or within a reasonable period of such time, when such vehicle is not being used to provide designated public transportation on the route:
(3) any individual with a disability who has a specific impairment-related condition which prevents such individual from traveling to a boarding location or from a disembarking location on such system:
(d) Individuals accompanying an ADA-paratransit-eligible individual shall be provided service as follows:
(1) one other individual accompanying the ADA-paratransit-eligible individual shall be provided service: