Date: 202012
Local time of day: 0601-1200
Location: ZZZ.Airport, US
Flight conditions: VMC
Light: Daylight
Aircraft: EMB ERJ 170/175 ER/LR
Operator: Air Carrier
Operating under: Part 121
Flight plan: IFR
Mission: Passenger
Flight phase: Taxi
ATC / advisory: Tower ZZZ
Second aircraft: Any Unknown or Unlisted Aircraft Manufacturer
Reporter organization: Air Carrier
Reporter function: Pilot Flying; First Officer
Reporter qualification: Flight Crew Instrument; Flight Crew Multiengine; Flight Crew Air Transport Pilot (ATP)
Human factors: Situational Awareness; Distraction; Communication Breakdown
Second reporter function: Pilot Not Flying; Captain
Anomaly: Conflict Ground Conflict; Less Severe; Deviation / Discrepancy - Procedural Clearance; Ground Incursion Runway
Detector: Person Flight Crew
Result: Flight Crew Returned To Clearance; Flight Crew Requested ATC Assistance / Clarification
Contributing factors: Airport; Human Factors
Primary problem: Human Factors

Narrative: After landing and during rollout on RW (Runway) XXR; we were instructed to 'make left turn if able and hold short of [Runway] XXL; then notify if gate was open'. As PF (Pilot Flying); I had already briefed during approach briefing that we would likely make left turn on [Taxiway] XX then hold short of [Runway] XXL to await further taxi instructions. As we decelerated and approached [Taxiway] XX; we noticed another airplane on Taxiway XY (around [Taxiway] XZ) facing east. We were initially uncertain if it was holding or continuing east so we were going to skip [Taxiway] XX and make next left. ATC stated that they were holding for us; so we made the turn on [Taxiway] XX. As we exited the RW (Runway); the CA (Captain) continued taxiing to cross RW (Runway) XXL even though we had been told to hold short. We were across the hold short lines when I queried him about holding short; but I was late in warning him to avoid the confusion and mistake of going so far. At same time; an airplane had rotated for takeoff on RW (Runway) XXL just prior to our position making it a more serious event. ATC never said anything to us as the event happened or immediately after; so I asked them if we should continue across RW (Runway) XXL. They replied in the affirmative and to contact Ground Control after exiting on other side. At no time did ATC comment on the event. We continued to the gate without further incident.Contributing factors were the confusion about the intention of the aircraft on Taxiway XY near the [Taxiway] XX exit we were instructed to use; the short distance between the parallel runways; and lack of coordinated and deliberate attention to the immediate situation we were in. I failed to give the CA a reminder we had been instructed to hold short of RW (Runway) XXL prior to him crossing the hold short lines. Neither of us confirmed both directions were clear prior to crossing even though it is SOP to do so and we had consistently been doing that up to that point. He said during our debrief he had momentarily looked down at his taxi diagram to confirm location of the potential crossing taxiways we might use before realizing too late we had taxied over the lines. I had also momentarily diverted my attention to try to contact ramp (per ATC's request about our gate availability); while assuming the CA had heard the hold short instructions and would comply. Again; we had already briefed this likelihood of taxi route and necessity of holding short of and eventual crossing of RW (Runway) XXL during the arrival/approach briefing during descent into ZZZ area. I had never received a query from ATC about gate availability in ZZZ; even though it's common procedure at other airports. Therefore; it affected my normal after-landing expectations and flow. That's not an excuse; but was definitely a factor.Weather was not a factor; nor was the lighting due to being midday. I don't believe fatigue or other physiological factors contributed either.


Second narrative: CAVU. RNAV [Runway] XXR. FO (First Officer) was PF (Pilot Flying). Upon landing standard transfer of controls on roll out. I planned on exiting [Taxiway] XZ to [Taxiway] XY to get behind a Airbus on [Taxiway] XY. ATC states 'exit [Taxiway] XX hold short of [Runway] XXL on [Taxiway] XX' (and gate status I think). The Airbus on [Taxiway] XY held short of [Taxiway] XX as directed by ATC. As we were in front of the Airbus as directed (on [Taxiway] XX) I was looking at chart and outside to see which way [Taxiway] XX veered (it looks like it veers left or right and is a wide taxiway). I was quickly comparing real life view to the chart diagram. As I was at that point we had already passed the hold short line. It then realized it and stopped. My FO asked 'if it's okay to cross [Runway] XXL'; ATC cleared us across [Runway] XXL at [Taxiway] XX left on [Taxiway] XA. All the while ATC communication was busy with the changing of our exiting directions to switching to ground. I have been to ZZZ multiple times before although I was unclear of how [Taxiway] XX is setup and viewed in real life. I was shocked what I had accidentally allowed to happen. I deviated from my exiting plan and slightly rushed thus missed seeing the HS (Hold Short) line and my situational awareness. I am at 100% fault in not continuing to [Taxiway] XZ as planned; taking on the slightly rushed exit; and most certainly not stopping as directed. I am still criticizing myself as I write this. I can guarantee that I will be more diligent and aware of actual versus chart of my location at all times.


Synopsis: Air carrier flight crew reported a runway incursion after landing.