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Expanding on recent work in autonomous mobility-on-demand (AMoD) systems, the authors consider the scenario of a multi-modal transit system that seamlessly integrates an AMoD service with mass-transit services. Thereby providing the opportunity for AMoD systems to function as a first-and-last-mile solution when viable mass-transit connections are available. This hybrid system also has the potential for reducing total vehicles miles traveled (VMT) and the corresponding negative externalities such as congestion and vehicular emissions. In this article, the authors model and analyze an AMoD system working in unison with mass transit services. They present a model that accounts for transit frequency, transfer costs and AMoD fleet management considerations such as vehicles rebalancing. Experimental results are provided based on real trip demands obtained from car2go, a free-floating carsharing service, and the Washington DC Metro network. They measure the system performance with respect to the objectives of users, the AMoD fleet operator and the city. The results show that an integrated system can provide up to a 50% reduction in total AMoD vehicle miles traveled. This framework can easily be extended to study other cities and different performance objectives, considering both autonomous and non-autonomous MoD services.