Network densification is a promising solu-tion to fulfill network capacity requirement and trans-mission rate for beyond 5G and 6G wireless commu-nications. Ultra-dense network (UDN) integrates het-erogeneous network resources and coordinates tech-nologies on quality of service controlling, to provide users with fl exible service. However, dense deploy-ment reduces coverage radius of the cell, resulting in an increase on handover frequency, which makes a se-rious impact on service continuity. In this paper, we propose a proactive selection method for dynamic ac-cess points grouping (DAPGing) in accordance with“user-centric”philosophy, which selects target Ac-cess Points (AP) and reduces handover times to en-sure communication continuity. This method includes two criteria:1) the user’s sojourn time, which is deter-mined by analyzing the AP coverage area; 2) neigh-bor relationship between APs, which is determined by coverage area and signal strength characteristics be-tween neighboring APs. Therefore, candidate APs be-come the proactive selected ones to update the AP group. Stochastic geometry is used to build system model and performance metrics are analyzed, includ-ing AP group coverage probability and average update frequency. Experimental analysis shows that the pro-posed proactive selection method brings similar cover-age probability to traditional handover method, while average update frequency is reduced more than 20％selection criteria.