Within the Chapada, a combination of guided tours, local transport, and walking covers most of what you want to see. The closest trails to Lençóis — Ribeirão do Meio, Gruta do Lapão, and the Serrano swimming holes — are accessible on foot. Morro do Pai Inácio and the more distant sites require a vehicle.
Hiring a guide in Lençóis is strongly recommended and in many cases required by law. The local guides' association (Associação dos Condutores de Visitantes de Lençóis) has offices on the main square and can arrange day trips and multi-day treks to any part of the park. For the more remote areas — Poço Azul, Poço Encantado, Vale do Capão — tour operators in Lençóis organise full-day excursions including transport. Renting a car gives more flexibility, particularly for combining sites in different parts of the park, but the roads are rough and unmarked in places.