The old town is compact and best explored on foot — the main sights cluster within a 15-minute walk of each other. Peters SchokoWelt is about 2.5 km south of the old town centre, which is manageable by bike or a short taxi ride.
Lippstadt has a well-developed cycle network, and bike hire is available locally. Canoe hire from Gamann Kanus or Kanutouren Deppe at the Grüner Winkel lets you explore the Lippe river network at a more relaxed pace. Local buses connect the town's districts but are not necessary for a typical visitor covering the historic core.