Walking and cycling should become the most natural way of making short journeys, according to Local Government Minister Carl Sargeant.
Mr Sargeant AM was leading a debate on the Welsh government's active travel policy, on 15 May 2012.
A white paper on the Active Travel Bill refers to "inconsistencies" that allow walkers on to cycle tracks but stop cyclists riding on footpaths.
It says that while some footpaths are too busy or dangerous for cycling, others - especially in towns - could be used safely.
The minister insisted the policy will improve public health, reduce greenhouse gas emissions, help address poverty and reduce congestion.
However Conservative AM Byron Davies raised concerns that Wales is currently not on course to meet key targets defined in the Welsh Governments Walking and Cycling Action Plan.
Liberal Democrat AM Eluned Parrott called on the government to ensure that local pedestrian and cycle routes are linked to each other and other transport hubs to create viable regional and national routes.
Whilst Plaid Cymru AM Jocelyn Davies raised her concerns regarding conflicts with landowners where paths cross.
Ms Davies therefore asked the minister if the legislation would give any rights to walkers and cyclists.
The amended motion was passed.
Read this in Welsh.