Falkirk is well connected by rail from both Edinburgh and Glasgow. Falkirk High station sits on the Edinburgh-Glasgow Queen Street line, with trains running frequently throughout the day (around 30 minutes from Edinburgh, 40 from Glasgow). Falkirk Grahamston station serves the Edinburgh-Glasgow Central line and is the station to use if you want the Falkirk Wheel, which is about three kilometres from the town centre.
By road, Falkirk sits on the M9 motorway between Edinburgh and Stirling, about 25 miles from Edinburgh and 10 from Stirling. National Express coaches also run to Falkirk from Edinburgh, Glasgow, and Stirling. The town centre is compact enough to walk, but you will need a car or taxi to reach the Falkirk Wheel, the Kelpies, and Rough Castle Fort.