The great majority of taxis that you will find in Malindi are actually mini buses, which serve as both private taxis and public transportation system buses. You can request to have a mini bus to yourself, but you will have to pay more to make up for the money the driver is not getting from other riders. If you are traveling with a bunch of other people, this will not be a problem, however. Though there isn't necessarily a pre-determined spot where you can pick up a taxi, you shouldn't have trouble getting one. If you walk by a crowded area however, like a large resort or hotel, or a popular area near the beach, there will always be a bunch of mini buses waiting around for customers. The prices are not necessarily set with all drivers. You can usually haggle and work out a price with the driver before you get in. Variables that will affect the price include how far you are going and how many people you are with. How many bags you have is also an issue from time to time. It definitely helps to know the language, but you should be able to get by if you don't. If you want to rent a car, you can do so from Mombasa, or the airport in Malindi itself. It's nice to drive through the countryside and get a real look at Kenya, but make sure you know where you are going.