This article deals with the scientific factors that have contributed to the dominance of motorised transport and the development of theoretical approaches in transport planning. Connections are made to modernism and to the theories within the field of transport planning that have created today's transport systems. Connections are then made to the field of bicycle planning. It is argued that there is a lack of theoretical research in bicycle planning that built on empirical studies. This has contributed to the bicycle often being marginalised in transport systems. Moreover, it is argued that new theoretical research could have a similar effect on bicycle planning as it has had on motorised transport planning. Although there is theoretical research about bicycling, such as vélomobility research, such research does not tend to theorise about bicycle planning. The idea put forward in this article is that theoretical knowledge from the field of mobility studies could be a first step in that direction. This article draws on the politics of mobility and research in vélomobility and develops a theoretical ground for transport planning that takes bicycling into consideration.