Na+ is impermeable to the membranes because it has a charge on it and won't move through the non-polar part of the phospholipid bilayer. The only way it gets in or out of the cell is through gates in the cell wall. There is a voltage gated Na+ channel that opens when the threshold membrane potential is met and then all this Na+ rushes in the cell and raises the membrane potential. Then the Na+ gate closes, the K+ gate opens and K+ rushes out of the cell. The cell goes back to a negative potential and overshoots the resting potential and you get hyperpolarization. Then the Na+/K+ pump returns the cell back to normal by pumping Na+ out and K+ in.
So basically the cell membrane is impermeable to Na+ or any ion but they do enter or exit the cell through gates in the membrane.