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This is a very common question. It is vital that a motor carrier define itself correctly in order to determine whether state or federal regulations are applicable. If you guess wrong, you will find yourself with compliance issues.
Interstate commerce is the movement of a shipment or service across state or international borders, or the intent to continue a movement within a state that originated from another state or country. In practical terms, you could still be considered interstate commerce even if you never cross the state line, depending upon the origin and destination of the shipment or service.
Intrastate commerce is the movement that originates in a single state, moves in that state only and delivers in that originating state.
Please refer to 390.5 for these definitions.