Prague is an easy city to navigate. What can be better than old-fashioned walking to explore the city center which is rather small and compact (about 2.5 miles).  Many Prague's historic districts are within pedestrian zones including famous Charles Bridge, Prague Castle and Old Town Square and can be explored only by walking.

Be sure to bring comfortable walking shoes with thick soles because the cobblestones can make your feet hurt after a few hours of walking.

Ulice is the Czech word for street, but many of them historically go simply by the name, like Na Přikope or Betlémska. Mĕsto means town is Czech, and náměstí – square; they magically work together to form Staroměstské Náměsti – the famed Old Town Square with Astronomical clock. (Orloj)

If you feel tired it’s always an option to use wonderful Prague public transit system (for the details refer to Public Transportation Prague tram is the best “sightseeing” option with 25 lines in the city center and frequent stops.

A flexible 24-hour pass priced at 110 CZK allows unlimited rides on trams, buses and metro and can save you time and money. Three day passes are also available for 310 CZK. These tickets are valid for all Prague public transport and allow transfers. The pass needs to be validated when you are ready to use it: inside the metro station at the top of the escalator, or inside the tram or bus. It is important to remember, that passes as well as individual tickets, must be validated only once. Individual tickets are also available for any form of Prague integrated transport, a full ticket 32 CZK for an adult is transferable and lasts for 90 minutes, 24 CZK ticket is transferable and valid for 30 minutes. The single ride tickets don't contain the transport of luggage and Czech controllers are famous among the inhabitants of Prague for catching tourists on this (and making them pay a fine). For travel with luggage buy 24h or longer ticket.

Bike riding is welcome since bike paths have been incorporated into wide sidewalks so cyclists have the option to take to the streets or sidewalks. Prague is however nothing like some bike-friendly cities in Europe as it has quite a few hills. Like any city center cars are aggressive as a means of intimidation, yet operating around tourists, irregular traffic, and slow speed limits they are extremely cautious and permit right-away to cyclists. You wont see too many locals cycling in the center because of the efficient public transportation system. You'll see mail couriers and tours speeding along on mountain bikes with suspension to ease them over the cobblestones. 

Along the Vltava River there are paths away from cars providing a nice route through the city next to the water. Also, within the city center there is Letna and Stromovka two large parks with panoramic views of the city, ideal for skateboarding, rollerblading, and bicycling. These parks have been redeveloped with bike paths, a city-wide movement in the last five years as an attempt to welcome the needs of cyclists. 

 Again, the city center is rather small and compact so peddle and see in hours what you would see in days walking, and save those feet!