Activity scheduling supports activity-based analysis in travel demand management and promotes a potentially popular traveler assistance service. A multi-objective approach is proposed to schedule joint participation of multiple individuals, in which the candidate space–time opportunities for joint participation are identified by a concept of time-varying network-based prisms, and optimal opportunities for joint participation are determined by the non-dominated sorting genetic algorithm-II (NSGA-II) with four objectives (i) minimizing cost for congestion charges, (ii) maximizing participation desirability of time-of-day, (iii) minimizing total travel distance and (iv) time in the trips of multiple individuals. A scenario of joint participation among four people is designed and implemented to demonstrate the feasibility of this approach. The results suggest that this approach has the ability to schedule activities within real situations.