First, create series of small cities where local businesses dominate the area along with surrounding areas. Bring back profitable small businesses and local farming. In the olden days work used to be in your backyard, not 30 miles away.
I always thought the original settlers who carried a wagon pulled by their horses had a good idea. We should live in movable homes that come with us to work, school, and can be parked at any employer-sponsored lot or otherwise designated area. Honestly, I wonder why we bother to live in stationary homes anyways as you never know where you'll be working next or need to go. Imagine going to the grocery store and having your home parked right in the lot, no more forgetting the sauce! Besides if you had to choose between your house or car what out of necessity would be the choice? A car of course. No car equals no getting to work. You can't take the house with you.
Much of a certain rural state could be connected by the old canals again, which would bring back small towns and keep the place thriving. Bring back railroads. Perhaps it could be mandatory for rural dwellers to power their home with renewable energy. Install a wind turbine or solar panel on all vehicles.
Really it would be nice to live without cars, but what are the alternatives? Is it our current lifestyle or the technology is a problem? Or perhaps something deeper is wrong with society.