The companies have announced "Taco Mode," an option for Lyft app users. Taco Bell says Lyft users who select Taco Mode get a custom menu, a taco-themed car and a free Doritos Locos Taco when they make their "ride-thru" stop.
The fast food chain and Lyft are set to test the feature in Orange County, California during the next two weekends, according to a statement from Lyft.
The companies expect to expand the service into other markets later this year and roll it out nationwide in 2018.
The Associated Press contributed to this report.