Getting around Estes Park has become a lot easier since the town teamed up with Rocky Mountain National Park to provide an integrated shuttle system.
Even if you have a car at your disposal, it is a good idea to use the shuttle. It's better for the environment, and you don't have to worry about parking! A double bonus!
If you are staying within walking distance of downtown, where most of the shopping and restaurants are located, leave the car at your hotel and walk (or take the shuttle). Downtown is best navigated by walking. Plus, parking can be nonexistent in summer and is limited to three hours at a time. It's still free, though!
If you insist on driving, good luck, God bless, and here's a parking map (coming soon).
If you are traveling between Estes Park and Rocky Mountain National Park, the shuttle is a good idea for hikers. Otherwise, bring your car.
There are also local taxi services available: Park Taxi, (970) 586-8294 Peak to Peak Taxi, (970) 586-6111
Or you can charter group transportation with the two shuttle bus companies (see the Getting to Estes Park page).
There is a service called "Special Transit" available for those with limited mobility. It is primarily intended for residents of Estes Park.
Bicycling is another option. There are some bike trails in town, but most biking for the purpose of getting around Estes Park will be on regular city streets. Unless you are in very good shape and can go up hills at high altitude easily, bicycling is not recommended for getting around Rocky Mountain National Park.