Accessibility is crucial for social inclusion, influenced by transport systems, land use, temporal availability, and individual features. It measures people’s ability to engage in social life and activities contributing to their well-being. This paper introduces the Inclusive Accessibility by Proximity Index (IAPI), designed to assess accessibility to essential services and activities for local residents. IAPI considers the physical and perceptual characteristics of urban spaces and paths, reflecting different mobility needs and habits. It guides urban planning to promote walkability, cyclability, and active mobility, aiming for a sustainable and inclusive city. Using Bologna, Italy, as a testbed, the paper details the IAPI methodology, results, and steps for scalability and context sensitivity.