The research of a better understanding of the Dark Matter nature establishes one of the strongest links between Cosmology and Particle Physics. At present, the experimental status of the field is extraordinarily promising and this has raised the interest of the beyond the Standard Model community. Several Dark Matter theories have been so far proposed and, for all of them, the expected rates of events at the Dark Matter detection experiments have been calculated. These predictions, however, crucially depend on properties of the Galactic halo such as the way in which Dark Matter particles populate the Galaxy. In this talk I will focus on the local value of the Dark Matter energy density from which direct detection rates strongly depend. Our analysis include several constraints of different types and relevant at different Galactic scales. It turns out that, for a given Dark Matter profile, we can determine the local Dark Matter energy density with an accuracy of roughly the 7\%.