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Since the dawn of mankind, urban design has shaped the physical history of cities and has played an important role in the quality of life of its inhabitants. Architects have been meticulously designing cities to create better and more livable spaces for humans since then. Modern cities today have evolved as knowledge about people's needs evolves, and many positive changes have occurred in them, bringing a better quality of life to each generation than to previous residents. Planners are always trying to improve urban systems, including transportation, housing, settlements, and the environment, and in this way, create better living conditions for citizens. Below, we will introduce cities in the world where urban design is done in the best possible way and has created the greatest satisfaction among citizens since its inception. Copenhagen's design is known worldwide as the "five-finger design" and is based on a coherent network of urban infrastructure, transportation, and green spaces. The location of citizens and their mobility are the main components of the design in this city, and interestingly, its development has been carried out with the greatest focus on encouraging people.