What I am trying to achieve here is VBA code as I don't think I can work this up using excel formulas.

I have two tabs "Data Tab" and "Summary" that I am working with. All of my Data is consolidated on one sheet called "Data Tab" and the data on the "Data Tab" worksheet is all from formulas that check if cells are blank in different areas of the workbook. If they are not blank they are copied to the "Data Tab" worksheet.
See below from the "Data Tab". This starts at column A over to Column D and data is stored from Row 3 to Row 590. (i do not have it set up as a table currently but i could the data a table if need be.
As you can see not all Rows will have data in them.
A B C D
LD# Location City Cost
1 1 1 $1.00
1 2 2 $2.00

1 4 4 $4.00

1 6 6 $6.00
2 7 7 $7.00

2 9 9 $9.00
2 10 10 $10.00

I need to take only the rows that have data and copy that to my "Summary" worksheet starting at F6 if that is blank or the next row down that is blank so when it is done the "Summary" worksheet will have all of the data from the "Data Tab" without any blank lines. I need to have this auto updated, as through the week, the data I enter may change to something else or I can run this at the end of the week after the data is final. Either way so long as I can take only the rows from my "Data Tab" worksheet (example above) that have data in them and copy them to my "Summary" worksheet in the next available empty cell starting at F6 and end up with no blank rows on my "Summary" worksheet.

Any help on VBA code or a formula set up (seems like it is going to have to be VBA code) would be GREATLY appreciated.
Thanks.