The streets are familiar because we traverse them so much. We don't even have to think "how to get there," we just know. We even know where the bumps and potholes are on the roads and hopefully can avoid them.
As Christians, the more we spend time reading the Scriptures, the more they will become as familiar to us as the streets we travel daily. The Holy Spirit will plant the Word of God in our hearts so when they are needed in our lives they can blossom as flowers of comfort, encouragement, correction and instruction.
"Thy word is true from the beginning
and every one of Thy righteous judgments
endureth for ever."