Walk - that's what your feet are for! Prague is designed for walking, with almost all of the major attractions within easy walking distance of each other...
In fact, on one day I was able to walk from the east side of the old city (Stare Mesto), right the way across the Charles Bridge and up the hill to the Castle before making the climb up to the Observatory on Petrin Hill - before walking all the way back home via Narodni Street of Nove Mesto...
OK, so my legs were a bit tired the next day but the best way to get around to see the sights and drink up the atmosphere of Prague is to get out there and walk amongst the people.
Still, there are times when you might want to rest your feet or travel a little further afield such as Vysehrad, and that is where Prague's cheap, efficient and fully integrated
Transport System made up of the bus, tram and metro system...
For only a few crowns you can travel easily from one side of the town to the other and for a mere 200 crowns you can have unlimited transport across the city for 3 days, though in my five days there I only spent about 40 crowns on all my transport including my connections to and from the
airport...
By the way, did I mention the amazingly cheap connections from the airport into the city? Catching the 119 bus into town and connecting to the metro for my hotel was a mere 12 crowns - that is 25p!!!
Compare that to average taxi prices from the airport of 400 crowns and you can see just what value for money Prague's transport system is!
Now, talking of taxis...
Really, there should be no need to use taxis if you feel confident getting around a strange city, because they have a very bad reputation for ripping off tourists and in my view should be used as a last resort!
Driving a car in Prague is out of the question if you are a tourist - if you drive here, just park near a public transport terminus on the outskirts of the city and leave your car alone whilst in Prague! Otherwise you could be looking at unnecessary stress and some very expensive and inconvenient fines...