Each location will be different.
In many public places in many cities you need
a permit. The local film commission will have
that information. If there is no local film commission
then there may be no permit needed. For a
business (bar, restaurant, office) the owner is
the person you ask. To shoot in a school the
school administration is who you ask. Sometimes
there is a charge, sometimes you can get use
of a location for free. Sometimes the owner will
need the filmmaker to provide the insurance.
Sometimes they don't.
There is no one-size-fits-all answer.