A method for generating a navigation path for navigating a vehicle, the method comprising: receiving, by a path generating system associated with the vehicle, a pre-generated navigation path between a source point and a destination point, from one or more sources; determining, while the vehicle is navigating in the pre-generated navigation path, by the path generating system, one or more uneven points on a road, within a predetermined volumetric region from a current position of the vehicle, using one or more sensors configured in the vehicle; determining, by the path generating system, a preferred side from a centre path line of the road in the predetermined volumetric region based on density of the one or more uneven points, wherein determining the preferred side of the road comprises: determining, by the path generating system, the density of the one or more uneven points at one or more predefined perpendicular distances from the centre path line along orientation of the vehicle; computing, by the path generating system, an average density of the one or more uneven points based on the density of the one or more uneven points determined at each of the one or more predefined perpendicular distances; and determining, by the path generating system, a side corresponding to the centre path line having the average density of the one or more uneven points less than or equal to a predefined density threshold, as the preferred side of the road; shifting, by the path generating system, the centre path line for a distance identified from the centre path line towards the preferred side, to obtain a new centre path line; and indicating, by the path generating system, plurality of navigation points on the new centre path line, wherein the plurality of navigation points is curve fitted to generate the navigation path for navigating the vehicle. receiving, by a path generating system associated with the vehicle, a pre-generated navigation path between a source point and a destination point, from one or more sources; determining, while the vehicle is navigating in the pre-generated navigation path, by the path generating system, one or more uneven points on a road, within a predetermined volumetric region from a current position of the vehicle, using one or more sensors configured in the vehicle; determining, by the path generating system, a preferred side from a centre path line of the road in the predetermined volumetric region based on density of the one or more uneven points, wherein determining the preferred side of the road comprises: determining, by the path generating system, the density of the one or more uneven points at one or more predefined perpendicular distances from the centre path line along orientation of the vehicle; computing, by the path generating system, an average density of the one or more uneven points based on the density of the one or more uneven points determined at each of the one or more predefined perpendicular distances; and determining, by the path generating system, a side corresponding to the centre path line having the average density of the one or more uneven points less than or equal to a predefined density threshold, as the preferred side of the road; determining, by the path generating system, the density of the one or more uneven points at one or more predefined perpendicular distances from the centre path line along orientation of the vehicle; computing, by the path generating system, an average density of the one or more uneven points based on the density of the one or more uneven points determined at each of the one or more predefined perpendicular distances; and determining, by the path generating system, a side corresponding to the centre path line having the average density of the one or more uneven points less than or equal to a predefined density threshold, as the preferred side of the road; shifting, by the path generating system, the centre path line for a distance identified from the centre path line towards the preferred side, to obtain a new centre path line; and indicating, by the path generating system, plurality of navigation points on the new centre path line, wherein the plurality of navigation points is curve fitted to generate the navigation path for navigating the vehicle.