Hiring a motorbike or scooter is by far the most popular way to move around Goa. Rentals are everywhere and cost ₹300–500 per day for a basic scooter, a bit more for a Royal Enfield. Carry your international driving permit and the rental paperwork — police spot-checks on foreign drivers are common and can involve "fines" that vanish into the pocket of the officer. Helmets are legally required.
Motorcycle taxis (locally called "pilots") are a fun, cheap way to get between towns for short hops. Autorickshaws work the usual way — negotiate the fare first.
Buses connect the main towns and beaches; they are extremely cheap and full of life, but slow and unpredictable. The Konkan Railway line runs the length of the state with useful stops at Madgaon, Karmali (for Panaji), and Thivim (for the north Goa beaches).
Taxis are available at beach towns and the airport; prices are negotiable and app-based services (Uber/Ola) work in Panaji and Margao but not at most beaches.