Lucca is best seen on foot or by bicycle. The city within the walls is compact enough to walk across in 20 minutes, and the flat terrain makes cycling effortless. Several shops near the main gates and on Piazza Santa Maria rent bicycles by the hour or day — renting one to cycle the top of the walls is strongly recommended. The streets inside the walls are medieval in width, so cars are restricted. Outside the walls, the city is entirely flat and a bike is still the most pleasant way to move around.