This study describes an analytical and experimental investigation of the pedestrian steel-deck truss bridge in the City of Rochester, New York, U.S.A. This investigation was undertaken to provide assurance that this important bridge continues to be functional for this use. An ambient vibration experiment on full-scale structures is a way of assessing the reliability of the various assumptions employed in the mathematical models used in analysis. It is also the most reliable way of determining the structural parameters of major importance in structural dynamics, such as the mode shapes and the associated natural frequencies. Pedestrian-induced vibrations have been measured on the bridge to determine the displacement and the vertical and transverse dynamic characteristics of the steel deck truss. In the analytical modeling, three-dimensional finite element analysis was developed and validated against the ambient tests.