Humans have a remarkable capacity for flexible planning, deliberating among actions by modeling their likely outcomes. This form of model-based planning allows us to adapt to the specific features of diverse circumstances. In real-world decision making, however, planning faces an important challenge: There are often an enormous number of possible actions to choose among, far too many for exhaustive consideration. There is a crucial, understudied “pre-planning” step in which, among myriad possibilities, a few good candidates come to mind with minimal effort. How do people accomplish this? We show that people use computationally frugal habits to propose a few candidate actions based on their general value across a range of contexts. Deliberative planning is then deployed just within this tractable set, updating value estimates based on context-specific features. This hybrid architecture combines the efficiency of habit and accuracy of planning, illuminating how valuable thoughts come naturally to mind during decision-making.