Ok so I agree that the Characters should not be the center of a Cities attention (again unless they are very respected or feared) but the average party member is one of those that would get lost in the flow of traffic.
As a DM I make my players learn the city there in by asking a random NPC which way it is to this or that place. Also I make places like the Market, and the port come to life with vast descriptions of stalls, and the bustling of people ( trying to give my players a sense of awe at the wonders from far off lands)
The things I use most are the 5 Senses
Smell I inundate my players with the description ( and if I have it) the scents that are smelled in the market (Things such as Rum, Spices; curry, cilantro, red pepper, and the like)
Sound I have a recording or two of bustling places ( San Franscicos Wharf, and the Boardwalk in San Diego for instance) that I have burned to a CD after adding calls such as " A Necklace for your lady Sir, and such things in different voices)
Taste Occasionally when I am in a cooking mood I feed my players authentic foods from areas similar to the area in my world such as fresh authentic Soupa, and Polish Meatballs, Lamb chops, Goats Milk, and Spiced Ribs, also a Good Dram of rum sometimes it is usually in the city or at a Town Inn that we break out the food this way.
Sight Usually descriptive, but sometimes I will run across a picture or a piece of artwork that I can show my players.
Touch Not often do I have the ability to use Touch as anything other than descriptives but with certain things I.E. Gold Coins, Silver coins, ring and the such the players can get the feel of the wieght and such.
Anyway keep the subject up guys
Answer the following questions
1. Is the Cities Bad Guys always bad?
2. Cobbled, Dirt, or Paved ( Which do you use in big cities for the streets)?
3. Urban Druids, Do you use them?
4. Is the Coin the only means of Buying, Selling, Trading in your cities?