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Getting around Darwin is fairly easy thanks to taxis and public transportation. The public bus service is pretty good, and it runs on a Sunday on the main routes. The full fare is $3.00 and the ticket is valid for 3 hours. Pensioners with a card and those with a Health Care card travel for $1. Veterans (DVA Card holders) travel for free. For timetables and map routes see http://www.nt.gov.au/transport/public...
All the public buses are wheel chair friendly except for the mini bus to Cullen Bay.
Many attractions are served by the public bus service. Route 4 visits Mindil Beach, Museum, Fannie Bay Goal, Northern Territory University, Rapid Creek Markets on Sunday and finishes at Casuarina bus exchange which is along side the large shopping centre. Bus 5 goes near Crocodylus Park with a couple of runs detouring there in the morning. It does not run Saturday or Sunday. It is an hourly (+/-) service. Bus 10 goes past the Rapid Creek markets to Casuarina, Bus 8 goes to Palmerston and it passes the Aviation Heritage Centre.
For those who want to take a tour along with their bus ride, check with your hotel or hostel about some of the different tour companies driving around the city. There's also a hop-on/hop-off bus called The Tour Tub that costs $45.00 a day. It runs from 9.00 am to 4.00pm and visits the main attractions
Getting out and getting some exercise while sightseeing is possible, too. You can either walk (a lot of the sights are within walking distance of each other) or rent a bike. Check at some of the hostels and hotels - many of them offer bikes. There are no real hills in Darwin and there are many cycle paths. See http://www.darwin.nt.gov.au/maps-faci...
If you want to get a taxi, call either Darwin Radio Taxis or City Radio Taxis, among others. There are Private Hire cars which have to be booked by phone but they offer a superior service. The taxi companies also have wheel chair friendly taxis and for a larger group 'people movers' are available. There are several companies running coaster buses or similar and some have facilities for wheel chairs. Some can be hired by the day instead of per trip if you want to do wider touring. Or you can rent a car -the main Australian wide companies have an office at the airport which are open when the flights arrive. Be aware that most rental cars are not permitted to be driven off the sealed/ tarred roads but most sites around the Top End are now on sealed roads.
Driving around Darwin yourself is also a breeze. Not much traffic and no parking hassles but there are speed cameras!!