The answer depends whether the city is defined in terms of a metropolitan area or municipality or something else. The city with the highest population within its municipality is Shanghai.
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IT IS WACO, TEXAS!
According to several sources, the current most densely populated city is Mumbai, India.There is around 29,650 people per square kilometer.
Monaco is the world's densest country and Manila in the Philippines is the densest city in the world.
The largest city in the world is Tokyo, Japan (population: 32,450,000), followed by Seoul, South Korea (20,550,000) and Mexico City, Mexico (20,450,000).