As tempting as it is, glueing the pedestrian area to the road way is a [bad idea][1]. Using "connecting footways" is still not very satisfying, but is IMHO better. Some examples:
* [going through][2] the pedestrian area
* merely [connecting][3] the area to the way
* connecting [two ways][4] together
I found all these examples using a [taginfo search][5], because the mappers added a note explaining the hackery. Thanks to them.
Hopefully someday we'll agree on a taggin scheme for these connecting ways that routers can use but renderers ignore, but AFAIK that's currently the best solution.
[1]:https://help.openstreetmap.org/questions/17501/when-mapping-polygons-surrounded-by-streets-should-they-share-nodes-or-be-traced-separately?page=1&focusedAnswerId=17505#17505
[2]:http://www.openstreetmap.org/way/161685503#map=19/60.26286/24.85274
[3]:http://www.openstreetmap.org/way/231646474#map=19/48.85229/2.34775
[4]:http://www.openstreetmap.org/way/237673760[4]:http://www.openstreetmap.org/way/237673760
[5]:http://taginfo.openstreetmap.org/search?q=routing#values