To drive safely on an **urban road with sufficient lighting**, it is necessary to use **dipped beam and position lights**. These lights are suitable because they provide the necessary visibility without dazzling other drivers.

- **Full beam headlights** are designed for roads outside urban areas, especially in low natural light conditions, such as at night or in poorly lit tunnels. They are not suitable for urban roads because they can dazzle other drivers.

- Using **only position lights** is not sufficient on urban roads, as these lights do not provide the necessary visibility to drive safely.

Therefore, on a well-lit urban road, **dipped beam and position lights** are the correct option to ensure safe driving and avoid dazzling other drivers.