Lyft Inc. is preparing to list its shares on Nasdaq around the end of March, as the ride-sharing firm’s hotly anticipated plan to join the public markets comes into focus.

The company, which submitted its IPO paperwork confidentially with the Securities and Exchange Commission late last year, is expected to make the filing public as early as next week, according to people familiar with the plan. The filing is expected to name Nasdaq as the exchange for Lyft shares, they added.

Lyft...