In the current conditions in Israel, the use of a car is essential for carrying out basic daily activities. This is because the metropolitan area consists of numerous suburban settlements surrounding the largest and most significant cities. Without incentives for walking or public transportation, the human experience in the suburban urban space is diminished, and the streets become empty of people. Essentially, a city for cars is created instead of a city for people. Simultaneously, the trend of population growth leads to the conversion of agricultural land for housing construction. This phenomenon has many disadvantages: the loss of open and green spaces that serve as both green lungs and for mental relaxation, the intensification of the urban heat island effect, and the reduction of permeable surfaces as the soil is replaced by paved areas. However, density planning is crucial as a response to the increasing demand for housing and as a social value for creating human interactions in the city streets. In this research, I propose a method of planning a dense city with a blend of nature and construction based on the experience of walking and wandering. The act of walking is enhanced by sensory contrasts that stimulate the senses. This research will bring together two bodies of knowledge: the challenge of urban construction in Israel towards 2040 and the experiential discourse of the contrasting pair, continuity, and void, as critical tools for analyzing the city from a morphological and phenomenological perspective. During the research, I will test the method in Ness Ziona, a suburban city with a developmental history characterized by varying relationships between construction, nature, and agricultural areas. The urban planning method will consist of a grid of plots of varying sizes, according to optimal walking distances and the diversity of the human sensory experience in the urban space.