"This context" is almost identical to when humans first started forming settlements - it was like a whole new world to them, and they went through a process before starting to settle. Let's talk about what the first humans had to do.
They needed to learn to farm.
About 200,000 years ago, the first modern humans walked the Earth. For the next 188,000 years, (almost) no permanent settlements existed - prey was always on the move, and areas would run out of resources if you hunted and gathered in them for too long.
About 12,000 years ago, agriculture first developed. Growing crops and domesticating livestock provided a steady food supply in one place, so there was no reason to continue to move.
Note that there are exceptions - some societies may have found enough resources in one place while still hunting and gathering, while others may have ignored agricultural development, simply weren't exposed to it, or did not develop it on their own - and so continued to hunt and gather after agriculture became popular.
In order to get larger towns and cities, you need to
- Wait until people learn how to farm: Or, as @a4android said, give them knowledge (or existing farms) so they don't have to develop agriculture after hundreds of thousands of years. Without agriculture, no sustainable towns or cities will form.
- Allow some tribes to merge: Perhaps a steady food supply will be an incentive for communities to join. Note that this will invent warfare - hunter-gatherers who don't farm will want that food - as well as religion - with so many deaths due to war, where are their souls going? if neither existed already
- Give them time to develop infrastructure: I'm assuming you want more than tents with dirt paths, adjacent to fields - give your civ(s) time to develop stronger shelter, tunnels, bridges, and whatever else they need. This will help them expand. (This step will also take thousands of years, so consider creating people with this knowledge already, or making a few structures in the wild for inspiration)