Visegrad is small enough that the lower town — the riverfront, the Royal Palace, and the Salamon Tower — is walkable in under half an hour. The Citadel on the hill is the only real navigation challenge. The climb on foot takes 30–45 minutes on well-marked paths through woodland; the route from the palace up to the citadel is the most direct. In summer, a small mini-train runs between the lower town and the Citadel car park, which is a short walk from the castle entrance.
If you are combining the Citadel with the Royal Palace and the Salamon Tower in a single day, the most natural order is to start at the Salamon Tower by the river, walk up through the palace, and then continue on foot up the hill to the Citadel. This keeps most of the climbing for the second half of the day. There is a car park near the Citadel for those arriving by car.
Cycling the Danube Bend route is popular; a well-marked cycling path runs along Route 11 on the western bank of the Danube. Bikes can be hired in Szentendre for those combining both towns.