The usual gateway is Beira, about three hours by road to the southeast in good conditions. The drive follows the EN1 north-west before turning toward the park entrance and Chitengo; a private vehicle or arranged transfer is the simplest option.
Road conditions change after rain, and park tracks are best tackled with a high-clearance vehicle. If you are self-driving, check fuel, gate hours, and current access before leaving Beira or Vila Gorongosa.