  We provide a new, short proof of the density in energy of Lipschitz functions
into the metric Sobolev space defined by using plans with barycenter (and thus,
a fortiori, into the Newtonian-Sobolev space). Our result covers first-order
Sobolev spaces of exponent $p\in(1,\infty)$, defined over a complete and
separable metric space endowed with a boundedly-finite Borel measure.
  Our proof is based on a completely smooth analysis: first we reduce the
problem to the Banach space setting, where we consider smooth functions instead
of Lipschitz ones, then we rely on classical tools in convex analysis and on
the superposition principle for normal $1$-currents. Along the way, we obtain a
new proof of the density in energy of smooth cylindrical functions in Sobolev
spaces defined over a separable Banach space endowed with a finite Borel
measure.
