Soignies is a small, compact town and almost everything worth seeing is within easy walking distance of the Grand Place. The collegiate church is immediately adjacent to the square; the town hall and main streets are a few minutes on foot.
The one exception is the Hôpital Notre-Dame de Bonne Espérance, which lies about three kilometres south of the centre. Walking is possible on a fine day; cycling is more comfortable and there are bike rental options in the town. A taxi or short drive is the easiest solution if you are not on foot.
The quarry landscape to the north and west is best explored by bike or car, as the distances between points of interest are greater than they appear on a map.
There is no local bus network of practical use to visitors, and no need for one given the town's scale. Bring comfortable shoes.