Kevin Lynch identified five key elements that help define a city's urban form and aid people in navigating an urban environment. These elements are: 1) paths, which include streets and sidewalks that facilitate movement; 2) edges, such as walls or shorelines that form boundaries; 3) nodes, or focal points like plazas that attract movement; 4) landmarks, which are prominent and easily identifiable objects; and 5) districts, which are sections of the city with a common character. These elements shape how people perceive and interact with the built environment.