New York’s much-debated plan to charge drivers to enter the center of Manhattan is set to take effect Sunday just after midnight, following years of bureaucratic and legal roadblocks. The goals of what is known as “congestion pricing” are to reduce gridlock and pollution and raise revenue for public transit.

The New York City tolling plan, the first of its kind in the country, finally debuted after being halted just weeks before its original start date last summer. Officials started it on a Sunday to work out the kinks before rush hour traffic Monday morning.

New York City's controversial congestion pricing plan begins today. Here's what you need to know about how it works, who it affects and what it will cost.