The urban mobility system is an important factor in social development and must, therefore, be tackled in a way that enables balanced, sustainable development. The purpose of the present work was to introduce a new holistic approach to urban mobility system (UMS) planning, which involves a strategic decision-making process with a broad involvement of various stakeholders. For this purpose, an innovative model was created by synthesizing the focus group (FG) method with the nominal group technique (NGT), SWOT (Strengths, Weaknesses, Opportunities, and Threats) analysis, and the fuzzy analytical hierarchical process (FAHP) method. The fuzzy approach was chosen for its ability to incorporate imprecise and vague information and make a decision-making UMS process more realistic. Accordingly, the objective of the paper was to propose a newly developed model that will (considering the integration of various urban mobility subsystems) enable the detection, identification, and ranking of key priorities required for a more holistic approach to UMS planning. The results revealed that the developed integrated model enables acquired areas to be ranked according to priorities, which further allows the development of scenarios. Moreover, the model allows a better understanding of how to search for compromises when one is faced with multi-criteria decision-making and coordination of frequently contradictory goals. A new integrated urban mobility model, as proposed herein, was also successfully tested in a real-life application, which proves its potential for use in sustainable urban mobility planning in a holistic way.