Of course. Study how the Athenian Democracy worked for example, for, after all, this is the origin of our notion of democracy (and take the exclusion of slaves and women aside, as this was a historical accident --everybody did so then-- and not the essence of the Athenian democratic process --which nobody did like them then, or even now--).

But besides direct democracy (which has many forms), there are forms of representative democracy far more democratic. Like every percentage matters, so if a party gets 3% nationwide he gets 3% of the seats, instead of losing it to a "winner takes all" scheme.

You dont even have to go that far back in history. Switzerland has a thriving, functioning democracy where anyone can get into politics, the will of the people is what counts most and all actions by politicians can easily be overturned by a referendum.