Waxahachie sits on Interstate 35E about 30 miles south of downtown Dallas — 45 minutes in clear traffic, longer at rush hour. The closest airport is Dallas/Fort Worth International (DFW), about an hour's drive north-west. From DFW or Love Field, rent a car: there is no useful public transport into Waxahachie.
If you are continuing south, Austin is about three hours further down I-35. Waxahachie is a natural break point on the long drive between Dallas and Austin or San Antonio.