The women, Alex Iovine and her girlfriend Emma Pichl, were on their way from Brooklyn to Manhattan on Saturday when they exchanged what they called a "peck" on the lips.
Video footage shows the unidentified driver opening the door to the backseat as Iovine asks him why they're being thrown out.
Iovine says the two are aware of Uber's policy against riders having sex in the backseat, but that the kiss was far from objectionable.
The women and the driver did not immediately respond to messages seeking comment on Tuesday. "I did what I believe is my freedom", he said.
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One of the outraged women then questions the driver, saying, "What are you f***ing talking about?"
A lesbian couple taking an Uber found out that you never know who your driver could be, and sometimes that can lead to unexpected problems. ". Don't do that here in the vehicle".
The man reportedly yelled at them for being disrespectful. The driver didn't want to be videotaped or photographed and claimed that the women kissing was "illegal" and "disrespectful".
"We got over the Manhattan Bridge into the city".
"We understand that someone would feel uncomfortable if people were making out in the vehicle", Iovine says. "But I think this has inspired us to get our voice out there more and get out there to celebrate everything this community has done, (what) we have to offer as human beings and the rights that we deserve".
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Meanwhile, Uber has said that the company "does not tolerate any form of discrimination".
Fromberg noted that the city does not regulate behaviour in Uber cars and similar services, but he called what the driver did to the women "an unacceptable and repugnant act that will not be tolerated".
Uber is also investigating the case and said it had suspended the driver's access to its app, The Associated Press reported.
The New York City Taxi and Limousine Commission, which licenses about 180,000 drivers of auto services and yellow cabs, called his behaviour "ridiculous".
"I was taking an Uber yesterday afternoon in Manhattan when my driver abruptly pulled over and kicked myself and my girlfriend out of the auto", Iovine told the New York Daily News. But Iovine and Pichl said they were doing no such thing.
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