Gaucín is a small village and everything within it is reached on foot — the streets are too narrow for cars in any case, and parking is on the outskirts. The castle at the top and the plaza at the centre are a few minutes' walk from anywhere in the village.
For the surrounding countryside, a car is almost essential. The Cueva de la Pileta is about 15 kilometres away on the road to Ronda; there is no public transport to the cave. Walking trails begin from the village itself — routes into the Serrania de Ronda are well-marked — but returning from any distance requires either a long walk back or a car waiting. Taxis can be arranged through accommodation in the village, but there is no rank and supply is limited; arrange in advance if you need one.