Burghausen is made for walking, but the geography is vertical. The old town, river promenade, castle ridge and Woehrsee sit on different levels, connected by stairs, paths and roads. Wear shoes that can handle cobbles and climbs.
Cyclists can follow the Inn-Salzach routes through the surrounding countryside. Within the historic centre, a bike is less useful than your feet: the distances are short and the best views come from wandering up and down the ridge.