The town of Arouca itself is small and entirely walkable — the monastery, geopark centre, market, and main restaurants are all within ten minutes on foot of each other.
Getting to the Passadiços do Paiva and the 516 bridge requires a car or organised shuttle. The Espiunca trailhead (where most walkers start) is about 10 kilometres from the town centre on a narrow valley road. There is a car park at the trailhead. The Areinho end (where the bridge is) is a further 8 kilometres by road from Espiunca, on the other side of the gorge. If you walk the trail one way, you will need to either arrange a shuttle back to your starting point or continue to Arouca by road.
Several shuttle services operate between the two trailheads during the main season (April–October). Book these in advance through the 516 Arouca ticket platform or the local tourism office. The geopark and the Canelas fossil site are reachable by car only, about 15 kilometres from town on the road towards Covelo de Paivô. There is no public transport to the fossil site.