The paper outlines the challenges faced by street-connected children in India, particularly the lack of accurate data and the failure of governance systems to address their needs. It introduces the Rag Dreams Weaver Association case study in Aligarh, Uttar Pradesh, focusing on their mentorship programs to empower street-connected children in urban planning and policy-making processes. The paper argues for the inclusion of youth voices in participatory design, challenging traditional skepticism within city agencies. It suggests that involving young people in decision-making can rectify historical planning errors and create more equitable urban environments.