Getting around Kinshasa is an exercise in patience. The city is vast, the roads are in poor condition across much of the area beyond Gombe, and traffic is ferocious at almost any hour. Allow far more time than you think you need for any journey.
Taxis are the recommended option for visitors. Always negotiate the fare before getting in, and use taxis recommended by your hotel rather than flagging them down on the street. Your hotel's driver or a driver you hire for the day through a reputable source is the safest and most practical option for getting around the city -- a trusted driver who knows the road situation and the neighbourhoods is invaluable. Agree on a daily or half-day rate and use them for everything.
Motorcycle taxis (known locally as boda-bodas or simply motos) are fast and cheap but carry significant risk -- traffic accidents are common, helmets are rarely provided, and navigating Kinshasa's roads on the back of a motorbike driven by someone you don't know is not advisable for most visitors.
Walking is possible in Gombe and in areas you know well, but avoid walking alone, keep a low profile with valuables, and be cautious after dark everywhere. Long distances are best covered by vehicle regardless.
Car hire with a driver is available through major hotels and some tour operators -- this is the most comfortable option if you are spending several days in the city and want flexibility without negotiating individual taxi fares each time.