On foot

It is easy to get lost in the winding streets and alleyways of Estepona, in particular its historic center. The best walking opportunities you will get will be along the waterfront, either on Avenida del Carmen or Avenida España, as well as the nearby promenade, the Paseo Maritimo Pedro Manrique. The Malaga coastal path, the senda litoral, passes through Estepona along the promenade. To appreciate the traditional Andalucian houses of Estepona (and their colorful flowerpots), make your way away from the water to Calle Terraza. Make a note to walk up Calle Terraza from Calle Veracruz to Calle Papuecas, and stop in at any of the side streets along the way (turn left, into the pedestrianized area, not right, where cars are still permitted to drive).

By bus

A city-wide bus system does not exist in Estepona. Bus service connecting Estepona with other cities on the Costa del Sol is managed by Portillo Buses, a subsidiary of Avanza Grupo (www.malaga.avanzagrupo.com/en). The bus station in Estepona is located on Avenida del Litoral, across from the Palacio de Exposiciones y Congresos (the town`s expo hall). It is less than a mile outside the historic center, but there is a taxi rank outside the expo hall which will take you into town. Bus routes you should know include:

- L-77, which connects Estepona with Casares
- L-79, which connects Estepona with Marbella
- The Estepona-Malaga Airport bus, which leaves five times daily on weekdays and four times on weekends. Tickets cost about €15 one-way after taxes and fees and can be bought online or at the bus station ticket office on Avenida del Litoral.
- M-240, which connects Estepona with San Luis de Sabinillas (Puerto de la Duquesa), a stop on the route which eventually connects Estepona with La Linea de la Concepcion, north of Gibraltar.

For more information on timetables, visit malaga.avanzagrupo.com/en/routes-and-timetables/pdf-timetables. For extra information on ticket pricing, visit malaga.avanzagrupo.com/en.

By taxi

Taxis in Estepona are white and typically have a logo on the side door, featuring the Torre de Padron on the right and the city seal and two people on the left. Their plate will also say `SP` in small letters. That stands for `servicio publico` and it means the vehicle is licensed for public use and hire. Red lights on the top of the cab mean it is taking a paying passenger to their destination; green means it is vacant. Taxis can be hailed from the street, reserved in advance via telephone, or can be hired by joining a queue at a taxi rank.

There are taxi ranks located at Avenida España at Calle Terraza; Avenida España at Avenida Juan Carlos I; Avenida del Carmen at the corner of Avenida Virgen del Puerto; and at the corner of Avenida Andalucia and Calle Calvario. You will also find taxi ranks outside the main building at Puerto de la Duquesa; La Duquesa Golf and Country Club; Plaza Vicente Espinel in San Luis de Sabinillas; on the MA8300 motorway in Bahia de Casares; at the Hotel Kempinski near the Torre de Padron; on Calle Sefardi in Guadalmansa; and on Avenida Marques del Duero in Cancelada.

Radio Taxi Estepona is the main taxi company serving Estepona and taxis can be reserved by dialing +34 952 80 29 00. Fares begin at €3 (around €4 after 10 p.m. and before 6 a.m., and on holidays and weekends), rising every mile by €1.50 (€2 nights, weekends and holidays). Waiting time is billed at approximately €20-€25 per hour. Fares from Malaga Airport, 48 miles away, run between €110-€160, depending on traffic, time of day, and number of people transported and bags handled.

By bicycle

Estepona is not traditionally known for its cycling, but in recent years the local government has added more bike lanes to city streets. They did that in the hope that residents will take advantage of Estepona`s compact size and relatively low elevation to cycle more often. More adventurous mountain bikers can ride up to the area outside Avenida Andalucia, while beginner bikers should best stick to Avenida España and Avenida del Carmen. The length of Avenida Puerta del Mar, from Avenida Juan Carlos I to the Port, now features bike lanes, another option to consider. Bicycle rental shops in Estepona include Costa Bike (Plaza ABC, No. 2, +34 645 24 59 54) and Radikal Bike (Calle Ceuta 19, +34 951 89 98 86).

By car

While a car is not necessary, it is recommended if you would like to explore the coastal towns and resorts of the Costa del Sol, as well as inland Andalucia, at your own pace. If you are renting a car during the booking process with TripMasters, you will be picking it up at Malaga Airport and not in Estepona. Six rental companies are located in the arrivals hall: Budget, Avis, Hertz, Sixt, ACE, and Europcar. An additional dozen companies are located outside the airport. If you do decide to book a car rental on your own after entering Spain, you will find the largest cluster of car rental companies around the expo hall and the bus station on Avenida del Litoral, east of Estepona`s historic center.