This chapter highlights the importance of rural road development in hilly regions of developing countries, focusing on accessibility challenges due to rugged terrain and limited resources. It proposes a two-step model using a covering approach to identify nodal points and form a basic rural road network. Tested in Lamjung and Gorkha districts of Nepal, the model demonstrates efficient coverage improvement, reducing road network length while achieving better access to settlements and public facilities within a 4 km service distance. The backbone and branch network pattern, specific to hilly regions, was also observed. The methodology can be extended to planning other rural infrastructure networks effectively.