Given the small size of it, one can get around Guhgar Town by foot. However, there are other place worth seeing that require either your own vehicle or Local S.T. buses. However, given limited frequency of the S.T. Buses to most villages around, the former seems to be the best choice.
One can also hire auto rickshaw 3-sitter or Dumdum 6-Sitter for the entire day and roam around.