Walking around Ica is a pleasure, as it is both small and quite safe. However, there are several taxi companies which charge about S/. 1.00 or 2.00 (less than one dollar) per trip, as distances are short.

If you are visiting the Nazca Lines or the Paracas National Reserve, you can go to any travel agency in the city to book a tour.

The round trip to the Ballestas Islands from Paracas, takes about 2 hours, in small, comfortable boats with capacity for 3, 4 or 5 passengers.

Anyway, best recommendation is hire the round trip from Lima, where you can arrange your 1 to 3 days long journey. Besides, you can better prices in Lima for the round trip, including the Nazca Lines overflight and private services for transportation.