St Petersburg has a rational layout and is easy to navigate.  Buying a good dual-language map is essential, since the street names and metro signs are posted in Cyrillic only.

Major sights are centrally located within walking distance from each other. Besides, walking is the best way to explore the city's magnificent architectural facades and monuments. A stroll along Nevsky Prospekt has been popular with locals since the 18th century. A walk or boat cruise along the Moika or Griboedov canal rewards you with a close view of attractive bridges and impressive mansions. Alternatively, there are cruises along the Neva river that allow excellent views of the whole city. The boats leave from the embankment near the Hermitage and The Bronze Horseman.

The metro, buses and trolleybuses are clean, safe and cheap, but can get overcrowded during the day. Taxis are plentiful and inexpensive. Some of the taxis are unmetered, so always name your destination and negotiate a price before getting in.

Please also be aware that some Taxi drivers might use the meter, but the meter shows the very unreasonable price. Don't take the taxi just parking near the scenic spots. If you need a taxi, please call the taxi company and the price will be more reasonable. 

There are several fascinating sights in the countryside. One of them, Peterhof Palace and Park, can be reached by hydrofoil from Hermitage. The imperial palaces at Tsarskoe Selo and Pavlovsk are accessible by train from Vitebsk Station. Car rentals are available, but driving can be difficult and is simply not advisable.