Abstract. We construct a smooth compact n-dimensional manifold Y with one point singularity such that all its Lipschitz homotopy groups are trivial, but Lipschitz mappings Lip (S n , Y ) are not dense in the Sobolev space W 1,n (S n , Y ). On the other hand we show that if a metric space Y is Lipschitz (n − 1)-connected, then Lipschitz mappings Lip (X, Y ) are dense in N 1,p (X, Y ) whenever the Nagata dimension of X is bounded by n and the space X supports the p-Poincaré inequality. Lipschitz (n − 1)-connectedness is a stronger condition than vanishing of the first n − 1 Lipschitz homotopy groups as it assumes quantitative estimates of Lipschitz constants.