Deploying human activity recognition (HAR) at home is still rare because sensor signals vary wildly across houses, people, and time, essentially requiring in-situ data collection and training. Prior approaches use cameras to generate training labels for privacy-preserving sensors (LiDAR, RADAR, Thermal), but this forces sensors to detect predefined activities that cameras can see yet the sensors themselves cannot reliably distinguish. In this work, we introduce OrganicHAR, an activity discovery framework that inverts this relationship by placing sensor capabilities at the center of activity discovery. Our approach identifies naturally occurring signal patterns using privacy-preserving sensors, leverages Vision Language Models (VLMs) only during these key moments for scene understanding, and discovers discrete activity labels at granularities that these sensors can reliably detect. Our evaluation with 12 participants demonstrates OrganicHAR's effectiveness: it achieves 79% accuracy for coarse (4-5) activities using only basic ambient sensors (radar, lidar, thermal arrays), and 73% accuracy for fine-grained (8-9) activities when a wearable IMU, depth, and pose sensor are added. OrganicHAR maintains 77% accuracy on average across configurations while discovering 4-8 categories per user (15 across all users) tailored to each environment and sensor capabilities. By triggering video processing only at key moments identified by local sensors, we reduce queries to VLM by 90%, enabling practical and privacy-preserving activity recognition in natural settings.