Walking is always a good option in small, quiet cities such as Puerto Maldonado - Tambopata. If you are not in the mood for walking however, try one of the noisy "mototaxis", a sort of motorcycle with a small cab at the back. These vehicles will take you to any area of the small capital of Madre de Dios in minutes, for a very reasonable price.
Hiring the services of a travel agency is required to visit the Tambopata - Candamo Reserved Area and the Bahuaja-Sonene National Park. These services generally include transfers in canoe to the places of most interest, accommodation in a camp or lodge, guide services and food.