Bastogne itself is small enough to cover entirely on foot. The town centre, the main square (McAuliffe Square), and the Mardasson Memorial are all within walking distance of each other. The Bastogne War Museum is about 2 km from the centre — walkable in 25 minutes, or reachable by car or taxi.
For exploring the broader Ardennes region — the villages, forest paths, and sites like Houffalize or La Roche-en-Ardenne — you will need a car or bicycle. Cycling routes through the Ardennes are extensive and well-marked, though the terrain is hilly.