New York City and the Housing of Urban Development came to an agreement on the future of NYCHA.

HUD Secretary Ben Carson and Mayor Bill de Blasio made the announcement Thursday at the Jacob Javitz federal building in Manhattan.

Many feared a federal takeover of the housing authority as residents have been plagued with lead, mold, vermen, and heating problems among other issues.

The mayor said he and Carson inherited this problem, which was decades in the making. But they put their political differences aside and signed the agreement with smiles on their faces.

Some of the key points the agreement include that the city will retain control of NYCHA.

It also says it will continue with NYCHA 2.0 -- resources the city originally committed to last summer -- $2.2 billion in city money over a 10-year time frame, fully renovate 175,000 apartments, and there will be a federal monitor overseeing improvements.

The secretary says the federal government will not be micromanaging what's going on in the city.

A federal monitor will instead be selected by HUD with input from the city.