The experience of female bodies in public spaces is often different and more problematic than that of males for various reasons, particularly due to a heightened sense of insecurity when they are outside of domestic walls, especially at night, compared to men. Space is not neutral, nor are maps, which instead always convey a specific perspective and imply a political positioning. This essay explores the use of collectively constructed mappings as a specific tool to address fear in a broad sense, discussing both the challenges and the potential of this practice to overcome the constrained geographies that women impose on their daily routes. Moreover, it explores how urban design can help make cities feel safer for women and gender minorities, and how it can support participatory processes. The aim is to ensure that the concept of the “right to the city” can be realized with an intersectional perspective through the free use of public space, not necessarily regulated or limited to mere consumption, where all bodies can feel welcome despite differences.